Trajectory Tracking Control of a Real Redundant Manipulator of the SCARA Type

Urrea, Claudio,Kern, John The Korean Institute of Electrical Engineers 2016 Journal of Electrical Engineering & Technology Vol.11 No.1

Modeling, control and implementation of a real redundant robot with five Degrees Freedom (DOF) of the SCARA (Selective Compliant Assembly Robot Arm) manipulator type is presented. Through geometric methods and structural and functional considerations, the inverse kinematics for redundant robot can be obtained. By means of a modification of the classical sliding mode control law through a hyperbolic function, we get a new algorithm which enables reducing the chattering effect of the real actuators, which together with the learning and adaptive controllers, is applied to the model and to the real robot. A simulation environment including the actuator dynamics is elaborated. A 5 DOF robot, a communication interface and a signal conditioning circuit are designed and implemented for feedback. Three control laws are executed in: a simulation structure (together with the dynamic model of the SCARA type redundant manipulator and the actuator dynamics) and a real redundant manipulator of the SCARA type carried out using MatLab/Simulink programming tools. The results, obtained through simulation and implementation, were represented by comparative curves and RMS indices of the joint errors, and they showed that the redundant manipulator, both in the simulation and the implementation, followed the test trajectory with less pronounced maximum errors using the adaptive controller than the other controllers, with more homogeneous motions of the manipulator.

Trajectory Tracking Control of a Real Redundant Manipulator of the SCARA Type

Claudio Urrea,John Kern 대한전기학회 2016 Journal of Electrical Engineering & Technology Vol.11 No.1

Modeling, control and implementation of a real redundant robot with five Degrees Freedom (DOF) of the SCARA (Selective Compliant Assembly Robot Arm) manipulator type is presented. Through geometric methods and structural and functional considerations, the inverse kinematics for redundant robot can be obtained. By means of a modification of the classical sliding mode control law through a hyperbolic function, we get a new algorithm which enables reducing the chattering effect of the real actuators, which together with the learning and adaptive controllers, is applied to the model and to the real robot. A simulation environment including the actuator dynamics is elaborated. A 5 DOF robot, a communication interface and a signal conditioning circuit are designed and implemented for feedback. Three control laws are executed in: a simulation structure (together with the dynamic model of the SCARA type redundant manipulator and the actuator dynamics) and a real redundant manipulator of the SCARA type carried out using MatLab/Simulink programming tools. The results, obtained through simulation and implementation, were represented by comparative curves and RMS indices of the joint errors, and they showed that the redundant manipulator, both in the simulation and the implementation, followed the test trajectory with less pronounced maximum errors using the adaptive controller than the other controllers, with more homogeneous motions of the manipulator.

Design and Implementation of a Graphic 3D Simulator for the Study of Control Techniques Applied to Cooperative Robots

Claudio Urrea,Jean Paul Coltters 제어·로봇·시스템학회 2015 International Journal of Control, Automation, and Vol.13 No.6

A new methodology is proposed for the design and implementation of three-dimensional simulations of manipulator robots, in individual as well as cooperative tasks, using several programming and 3D-design tools. To obtain easily the dynamic-mathematical models of movement for the represented systems, regardless of the kind of manipulator robot to be considered, the development of a computer algorithm is also presented. Besides, through the use of the Bullet library, we incorporated the detection of collisions between constitutive elements of the system, considering elements external to the robots, collisions between links of the same robot, or between two robots. Using a C++ programming platform, we also designed and implemented a flexible and intuitive graphic user interface. The dynamic-mathematical performance of the cooperative interaction between two actual robots, designed and implemented in the Departamento de Ingeniería Eléctrica of the Universidad de Santiago de Chile (DIE-UdeSantiago de Chile), was modeled, plotted and three-dimensionally simulated, by using the new algorithm proposed for this purpose. Finally, the performance results are presented and analyzed.

Dynamic Parameter Identification Based on Lagrangian Formulation and Servomotor-type Actuators for Industrial Robots

Claudio Urrea,José Pascal 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.8

This article presents the design of a parameter identification model for industrial manipulator robots. This model includes the dynamics of servomotor-type actuators and therefore is formulated based on acceleration, speed, position and voltage applied to the actuator. In this way, calculating the torque of a joint during motion to estimate parameters, as in the Inverse Dynamic Identification Model (IDIM), is unnecessary. The model proposed is satisfactorily applied to the parameter identification of an industrial redundant robot with 5 Degrees of Freedom (DoF).

Implementation and Comparison of Controllers for Planar Robots

John Kern,Claudio Urrea,Hugo Torres 대한전기학회 2017 Journal of Electrical Engineering & Technology Vol.12 No.2

The nonlinear behavior and the high performance requirement are the main problems that appear in the design of manipulator robots and their controllers. For that reason, the simulation, realtime execution and comparison of the performance of controllers applied to a robot with three degrees of freedom are presented. Five controllers are prepared to test the robot"s dynamic model: predictive; hyperbolic sine-cosine; sliding mode; hybrid composed of a predictive + hyperbolic sine-cosine controller; and adaptive controller. A redundant robot, a communication and signal conditioning interface, and a simulator are developed by means of the MatLab/Simulink software, which allows analyzing the dynamic performance of the robot and of the designed controllers. The manipulator robot is made to follow a test trajectory which, thanks to the proposed controllers, it can do. The results of the performance of this manipulator and of its controllers, for each of the three joints, are compared by means of RMS indices, considering joint errors according to the imposed trajectory and to the controller used.

Implementation and Comparison of Controllers for Planar Robots

Kern, John,Urrea, Claudio,Torres, Hugo The Korean Institute of Electrical Engineers 2017 Journal of Electrical Engineering & Technology Vol.12 No.2

The nonlinear behavior and the high performance requirement are the main problems that appear in the design of manipulator robots and their controllers. For that reason, the simulation, real-time execution and comparison of the performance of controllers applied to a robot with three degrees of freedom are presented. Five controllers are prepared to test the robot's dynamic model: predictive; hyperbolic sine-cosine; sliding mode; hybrid composed of a predictive + hyperbolic sine-cosine controller; and adaptive controller. A redundant robot, a communication and signal conditioning interface, and a simulator are developed by means of the MatLab/Simulink software, which allows analyzing the dynamic performance of the robot and of the designed controllers. The manipulator robot is made to follow a test trajectory which, thanks to the proposed controllers, it can do. The results of the performance of this manipulator and of its controllers, for each of the three joints, are compared by means of RMS indices, considering joint errors according to the imposed trajectory and to the controller used.