Hostname: page-component-cd9895bd7-jn8rn Total loading time: 0 Render date: 2024-12-25T04:41:31.129Z Has data issue: false hasContentIssue false
  • English
  • Français

A hybrid control algorithm for robotic manipulators

Published online by Cambridge University Press:  09 March 2009

J. S. Lee  and
W. H. Kwon
J. S. Lee
Affiliation:
Department of Electrical and Control Engineering, Hong Ik University, Sangsu-dong, Mappo-ku, Seoul, 121–791 (Korea)
W. H. Kwon
Affiliation:
Department of Control and Instrumentation Engineering, Seoul National University, Shinlim-dong, Kwanak-ku, Seoul, 151–742 (Korea)
Get access Rights & Permissions [Opens in a new window]

Summary

In this paper, new hybrid control laws for the position control of robotic manipulators are proposed. The proposed control laws are composed of discrete feedforward component and continuous feedback component. The open loop nominal torque about the desired trajectories is taken as the feedforward component, while a modified version of the sliding mode control is taken as the feedback component. For the three proposed control laws, we give sufficient conditions which guarantee the bounded tracking errors in spite of the modeling errors. The existence of the control gains which satisfy these conditions is shown by numerical examples. The computational burden of feedback control is analyzed, which shows that the feedback control can be used in real time digital control. The robustness and the good tracking performance of proposed algorithms are demonstrated by the numerical simulation of a manipulator position control under payloads and parameter uncertainties.

Keywords

Hybrid controlAlgorithmRobotsRobustnessFeedforward compensation, Trade laws.
Type
Article
Information
Robotica , Volume 9 , Issue 3 , July 1991 , pp. 307 - 318
Copyright
Copyright © Cambridge University Press 1991

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Fu, K.S., Gonzalez, R.C. and Lee, C.S.G., Robotics: Control, Sensing, Vision, and Intelligence (McGraw-Hill, New York, 1987).Google Scholar
2.Brady, M. et al. (Editors), Robot Motion: Planning and Control (The MIT Press, Massachusetts, 1982).Google Scholar
3.Vukobratović, M. and Stokić, D., “Is Dynamic Control Needed in Robotic Systems, and, if so, to what extend?”, Int. J. Robot. Res. 2, 18–34 (Summer, 1983).Google Scholar
4.Tourasis, V.D. and Neuman, C.P., “Robust Nonlinear Feedback Control for Robotic Manipulators”, IEE Proc. D 132, 134–143 (07, 1985).CrossRefGoogle Scholar
5.Sahba, M. and Mayne, D.Q., “Computer-Aided Design of Nonlinear Controllers for Torque Controlled Robot Arms” IEE Proc. D 131, 8–14 (01, 1984).Google Scholar
6.Egeland, O., “On the Robustness of Computed Torque Method in Manipulator Control” Proc. IEEE Int. Conf. on Robotics and Automation 1203–1208 (1986).Google Scholar
7.Shin, K.G. and Cui, X., “Effects of Computing Time Delay on Real-Time Control Systems” Proc. American Control Conference,Atlanta, GA. 1071–1076 (1988).CrossRefGoogle Scholar
8.Utkin, V.I., Sliding Modes and Their Application in Variable Structure Systems (MIR Publisher, Moscow: English Translation, 1978).Google Scholar
9.Young, K.K.D., “Controller Design for a Manipulator Using Theory of Variable Structure Systems” IEEE Trans. Syst. Man Cybernetics SMC-8, No. 2, 101–109 (1978).CrossRefGoogle Scholar
10.Slotine, J.J., “The Robust control of Robot Manipulators”, Int. J. Robot. Res. 4, 49–64 (Summer, 1985).Google Scholar
11.Harashima, F., Hashimoto, H. and Maruyama, K., “Practical Robust Control of Robot Arm Using Variable Structure System”, Proc. IEEE Int. Conf. on Robotics and Automation pp. 532–539 (1986).Google Scholar
12.Ha, I.J. and Gilbert, E.G., “Robust Tracking in Nonlinear Systems” IEEE Trans. Automat. Contr. AC-32, 763–771 (09, 1987).Google Scholar
13.Lee, J.S. and Kwon, W.H., “A Multirate Robust Robot Control Algorithm” Proc. IEEE TENCON, Seoul 909–914 (1987).Google Scholar
14.Lee, C.S.G. and Chung, M.J., “Adaptive Perturbation Control with Feedforward Compensation for Robot Manipulators”, Simulation 44, 3, 127–136 (1985).Google Scholar
15.An, C.H., Atkinson, C.G., Griffith, J.D. and Hollerbach, J.M., “Experimental Evaluation of Feedforward and Computed Torque Control” IEEE Trans, on Robotics and Automation 5, No. 3, 368–373 (1989).Google Scholar
16.Lee, C.S.G., Lee, B.H. and Nigam, R., “Development of the Generalized d'Alembert Equations of Motion for Mechanical Manipulators” Proc. IEEE 22nd Conf. Decision and Control, San Antonio, Tex. 1205–1210 (1983).CrossRefGoogle Scholar
17.Franklin, J.N., Matrix Theory (Prentice Hall, New Jersey, 1968).Google Scholar