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Design of a Microprocessor Based Controller for Robotics Manipulator
Technical Paper
1999-01-2642
ISSN: 0148-7191, e-ISSN: 2688-3627
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English
Abstract
This paper proposes design of a microprocessor-based controller for motion control of an n-degree of freedom robotics manipulator. Since the manipulator motion control problem is the problem of finding appropriate torques that will drive the actuators in order for the manipulator to follow a pre-specified trajectory. A microprocessor-based controller is designed to generate these torques based on two controllers.
The first controller is an embedded controller while the other is the optimal preview controller. Since the manipulator speed is limited by the mechanical constraints of the robot arm, system’s throughput should be optimized for generation of the required control law based on the data received from robot’s position sensors.
The Mohseni’s Proposed Algorithm, MPA, has been incorporated into the embedded controller to reduce the computational efforts and to obtain a “close-to-optimal” control law.
In the optimal preview controller the optimal problem is solved at an arbitrary operating point of a pre-specified optimal trajectory. In this controller, the end effector’s velocity of the manipulator is monitored in a servo loop with integral action to compensate for inaccuracies in the structure and to attain zero steady state tracking error.
In addition, the position and velocity of each joint are compelled to track their nominal values through state feedback loop to compensate for the system complexity and nonlinearly. The two controllers are implemented to control the motion of a two-degrees of freedom planar manipulator.
Extensive digital computer simulation results are made to demonstrate the tracking ability of the two controllers. Comparison between the performance of the embedded controller and optimal preview controller is also illustrated.
Authors
Citation
Negm, M., Bakhashwain, J., and Shewhdi, M., "Design of a Microprocessor Based Controller for Robotics Manipulator," SAE Technical Paper 1999-01-2642, 1999, https://doi.org/10.4271/1999-01-2642.Also In
References
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- Mohseni S. On determining a nonlinear feedback control law for a nonlinear plant Proceed. of the Inerna. Conference on Control and Modeling 985 989 1990
- Mohseni S. Ghorieshi M. On determining the model structure of a nonlinear control law for a nonlinear model following control system Proceedings of the IEEE Interna. Conference on Systems Engineering 415 418 1989
- Negm M.M.M. Optimal Preview Control for robotic manipulator with control input constraints accepted for publication at the AUPEC’98 Australia 125 130 27-30 September 1998
- Negm M.M.M. Kheireldin, A. Properties of adaptive, optimal and preview controllers based on MVC and LQG optimal controller- Application to robotic manipulator Proceedings of the International Conference IEE U.K. 54 60 1990
- Desrochers A.A. Seaman C.M. Nonlinear simplified models and robotic manipulators proceed. of the Third Yale Workshop on Applications of Adaptive System Theory 197 202 1983