Calibration of UR10 Robot Controller through Simple Auto-Tuning Approach

This paper presents a calibration approach of a manipulator robot controller using an auto-tuning technique. Since the industry requires machines to run with increasing speed and precision, an optimal controller is too demanding. Even though the robots make use of an internal controller, usually, this controller does not fulfill the user specification with respect to their applications. Therefore, in order to overcome the user requirements, an auto-tuning method based on a single sine test is employed to obtain the optimal parameters of the proportional–integral–derivative PID controller. This approach has been tested, validated and implemented on a UR10 robot. The experimental results revealed that the performances of the robot increased when the designed controller, using the auto-tuning technique, was employed.

[1]  Cosmin Copot,et al.  Motion compensation for robotic lung tumour radiotherapy in remote locations: A personalised medicine approach , 2017 .

[2]  K. Åström,et al.  Revisiting the Ziegler-Nichols step response method for PID control , 2004 .

[3]  Yunhui Liu,et al.  Hand Motion Classification Using a Multi-Channel Surface Electromyography Sensor , 2012, Sensors.

[4]  José Luis Pons Rovira,et al.  A Robust Kalman Algorithm to Facilitate Human-Computer Interaction for People with Cerebral Palsy, Using a New Interface Based on Inertial Sensors , 2012, Sensors.

[5]  M. Spong,et al.  Robot Modeling and Control , 2005 .

[6]  M Maarten Steinbuch,et al.  Robust control of a compact disc mechanism , 1995 .

[7]  Robin De Keyser,et al.  A one-step procedure for frequency response estimation based on a Switch-Mode Transfer Function Analyzer , 2011, IEEE Conference on Decision and Control and European Control Conference.

[8]  Robin De Keyser,et al.  A novel auto-tuning method for fractional order PI/PD controllers. , 2016, ISA transactions.

[9]  Haizhou Li,et al.  Nonlinear Control of a Robot Manipulator with Time-Varying Uncertainties , 2010, ICSR.

[10]  Zhihua Qu,et al.  Robust learning control for robotic manipulators with an extension to a class of non-linear systems , 2000 .

[11]  Thomas Timm Andersen.  Optimizing the Universal Robots ROS driver. , 2015 .

[12]  S. Skogestad.  Simple analytic rules for model reduction and PID controller tuning , 2004 .

[13]  Haruhisa Kawasaki,et al.  Iterative learning control with sampled-data feedback for robot manipulators , 2014 .

[14]  Kok Kiong Tan,et al.  Enhanced automatic tuning procedure for process control of PI/PID controllers , 1996 .

[15]  Kevin L. Moore,et al.  Relay feedback tuning of robust PID controllers with iso-damping property , 2003, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475).

[16]  M Maarten Steinbuch,et al.  Advanced Motion Control Design , 2010 .

[17]  Robin De Keyser,et al.  Comparative evaluation of a novel principle for PID autotuning , 2017, 2017 11th Asian Control Conference (ASCC).

[18]  Sorin G. Stan,et al.  Digital Servo IC for Optical Disc Drives , 2000 .

[19]  K.J. Astrom,et al.  Design of PID controllers based on constrained optimization , 1999, Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251).

[20]  Robain De Keyser,et al.  Developing Frequency Response Analyzer in MATLAB ® Simulink Environment , 2009 .

[21]  Djamel Boukhetala,et al.  Velocity observer-based iterative learning control for robot manipulators , 2013, Int. J. Syst. Sci..

[22]  Tore Hägglund,et al.  Design of PID controllers based on constrained optimization , 1999 .

[23]  Bart De Schutter,et al.  Decentralized Reinforcement Learning Control of a Robotic Manipulator , 2006, 2006 9th International Conference on Control, Automation, Robotics and Vision.

[24]  Peter I. Corke.  Robotics, Vision and Control - Fundamental Algorithms In MATLAB® Second, Completely Revised, Extended And Updated Edition, Second Edition , 2017, Springer Tracts in Advanced Robotics.

[25]  G. Oriolo,et al.  Robotics: Modelling, Planning and Control , 2008 .

[26]  Robert H. Bishop,et al.  The mechatronics handbook , 2002 .

[27]  K. Åström,et al.  Revisiting The Ziegler‐Nichols Tuning Rules For Pi Control , 2002 .

[28]  Hiroki Shirato,et al.  Accuracy of tumor motion compensation algorithm from a robotic respiratory tracking system: a simulation study. , 2007, Medical physics.

[29]  Tore Hägglund,et al.  Automatic tuning of simple regulators with specifications on phase and amplitude margins , 1984, Autom..

[30]  Calvin R. Maurer,et al.  Respiratory Motion Tracking for Robotic Radiosurgery , 2007 .

[31]  Jian Chen,et al.  A continuous asymptotic tracking control strategy for uncertain nonlinear systems , 2004, IEEE Transactions on Automatic Control.