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Design, analysis and modelling of a hybrid controller for serial robotic manipulators

Published online by Cambridge University Press:  15 August 2016

Dan Zhang  and
Bin Wei
Dan Zhang*
Affiliation:
Department of Mechanical, Engineering, York University, 4700 Keele Street, Toronto, Ontario, M3J 1P3, Canada
Bin Wei
Affiliation:
Faculty of Engineering and Applied Science, University of Ontario Institute of Technology, 2000 Simcoe Street North, Oshawa, Ontario L1H 7K4, Canada. E-mail: [email protected]
*
*Corresponding author. E-mail: [email protected]
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Summary

When the end-effector of a robotic arm grasps different payload masses, the output of joint motion will vary. By using a model reference adaptive control approach, the payload variation effect can be solved. This paper describes the design for a hybrid controller for serial robotic manipulators by combining a PID controller and a model reference adaptive controller (MRAC) in order to further improve the accuracy and joint convergence speed performance. The convergence performance of the PID controller, the MRAC and the PID+MRAC hybrid controller for 1-DOF, 2-DOF and subsequently 3-DOF manipulators is compared. The comparison results show that the convergence speed and its performance for the MRAC and the PID+ MRAC controllers is better than that of the PID controller, and the convergence performance for the hybrid control is better than that of the MRAC control.

Keywords

Robotic manipulatorModel reference adaptive controlHybrid controlConvergence performance
Type
Articles
Information
Robotica , Volume 35 , Issue 9 , September 2017 , pp. 1888 - 1905
Copyright
Copyright © Cambridge University Press 2016 

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