Optimal and Robust Control of Multi DOF Robotic Manipulator: Design and Hardware Realization

ABSTRACT Robots have become an integral part of industrial automation. Their ultimate role and contribution in this sector is essentially a function of the associated control strategy to ensure precision, repeatability, and reliability, particularly in an environment polluted with disturbances and uncertainties. This research aims to present a design of the modern control strategies for a 6 degree of freedom robotic manipulator. Based on derived kinematic and dynamic models of the robot, optimal and robust control strategies are simulated and practically realized on a custom developed pseudo-industrial framework named as AUTonomous Articulated Robotic Educational Platform. Results of the experimental trials in terms of trajectory tracking demonstrate efficiency and usefulness of the presented control approaches.

[1]  Kumpati S. Narendra,et al.  Tuning of a PID Controller for a Real Time Industrial Process using Particle Swarm Optimization , 2010 .

[2]  Jamshed Iqbal,et al.  Robotics for Nuclear Power Plants — Challenges and future perspectives , 2012, 2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI).

[3]  Raza Ul Islam,et al.  Design and Comparison of Two Control Strategies for Multi-DOF Articulated Robotic Arm Manipulator , 2014 .

[4]  Raza Ul Islam,et al.  An open-source multi-DOF articulated robotic educational platform for autonomous object manipulation , 2014 .

[5]  Imad M. Jaimoukha,et al.  Robust feedback model predictive control of constrained uncertain systems , 2013 .

[6]  Abdul Rashid Husain,et al.  Dynamic Model and Robust Control of Flexible Link Robot Manipulator , 2011 .

[7]  Raza Ul Islam,et al.  Automating industrial tasks through mechatronic systems – a review of robotics in industrial perspective , 2016 .

[8]  Jamshed Iqbal,et al.  Ugrađeni upravljački sustav za AUTAREP- novu AUTonomnu Artikuliranu Robotičku Edukativnu Platformu , 2014 .

[9]  Salah Laghrouche,et al.  Study of the nonlinear control techniques for single acting VGT pneumatic actuator , 2012 .

[10]  S. C. Saini,et al.  Comparison of Pole Placement and LQR Applied to Single Link Flexible Manipulator , 2012, 2012 International Conference on Communication Systems and Network Technologies.

[11]  Jamshed Iqbal,et al.  A systematic review of current and emergent manipulator control approaches , 2015 .

[12]  Imad M. Jaimoukha,et al.  Causal state-feedback parameterizations in robust model predictive control , 2013, Autom..

[13]  Yiannis Demiris,et al.  Optimal robot arm control using the minimum variance model , 2005, J. Field Robotics.

[14]  Jamshed Iqbal,et al.  State estimation technique for a planetary robotic rover , 2014 .

[15]  Kalyan Chatterjee,et al.  A comprehensive state of the art literature survey on LFC mechanism for power system , 2017 .

[16]  E. Mohammadi,et al.  Barriers and facilitators related to the implementation of a physiological track and trigger system: A systematic review of the qualitative evidence , 2017, International journal for quality in health care : journal of the International Society for Quality in Health Care.

[17]  Jamshed Iqbal,et al.  Modeling and Analysis of a 6 DOF Robotic Arm Manipulator , 2012 .

[18]  Muhammad Aslam Uqaili,et al.  Steady State Dynamic Operating Behavior of Universal Motor , 2015 .

[19]  Raza Ul Islam,et al.  An autonomous image-guided robotic system simulating industrial applications , 2012, 2012 7th International Conference on System of Systems Engineering (SoSE).

[20]  Rong-Jong Wai,et al.  Fuzzy-Neural-Network Inherited Sliding-Mode Control for Robot Manipulator Including Actuator Dynamics , 2013, IEEE Transactions on Neural Networks and Learning Systems.

[21]  Jiann-Shiou Yang,et al.  LQR control of an under actuated planar biped robot , 2011, 2011 6th IEEE Conference on Industrial Electronics and Applications.

[22]  Jamshed Iqbal,et al.  EMBEDDED CONTROL SYSTEM FOR AUTAREP-A NOVEL AUTONOMOUS ARTICULATED ROBOTIC EDUCATIONAL PLATFORM , 2014 .

[23]  Sanjib Kumar Panda,et al.  Chattering-free and fast-response sliding mode controller , 1999 .

[24]  Constantinos Mavroidis,et al.  DISCRETE-TIME LQR AND H2 DAMPING CONTROL OF FLEXIBLE PAYLOADS USING A ROBOT MANIPULATOR WITH A WRIST-MOUNTED FORCE/TORQUE SENSOR , 2000 .

[25]  Jamaludin Jalani,et al.  Realisation of model reference compliance control of a humanoid robot arm via integral sliding mode control , 2016 .

[26]  Furqan Tahir,et al.  Real-Time Control of an Inverted Pendulum: A Comparative Study , 2011, 2011 Frontiers of Information Technology.

[27]  M. F. Khan,et al.  Control strategies for robotic manipulators , 2012, 2012 International Conference of Robotics and Artificial Intelligence.

[28]  Guido Herrmann,et al.  A novel robust adaptive control algorithm with finite-time online parameter estimation of a humanoid robot arm , 2014, Robotics Auton. Syst..

[29]  Shane Xie,et al.  A Fuzzy Integral Sliding Mode Control Algorithm for High-Speed Laser Beam Focus Tracking Control , 2002 .

[30]  Metin Gokasan,et al.  High order sliding mode control of a space robot manipulator , 2011, Proceedings of 5th International Conference on Recent Advances in Space Technologies - RAST2011.

[31]  Konstantinos-Dionysios Bouzakis,et al.  Off-line programming of an industrial robot for manufacturing , 2005 .

[32]  Darwin G. Caldwell,et al.  Four-fingered lightweight exoskeleton robotic device accommodating different hand sizes , 2015 .