On Orbital Stabilization for Industrial Manipulators: Case Study in Evaluating Performances of Modified PD+ and Inverse Dynamics Controllers

Orbital stabilization is one of the available alternatives to the classical asymptotic stabilization, known as the reference tracking control, which is typically considered and implemented for controlling motions of industrial robot manipulators. Since asymptotic orbital stability means convergence...

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Bibliographic Details
Published in:IEEE transactions on control systems technology 2017-01, Vol.25 (1), p.101-117
Main Authors: Pchelkin, Stepan S., Shiriaev, Anton S., Robertsson, Anders, Freidovich, Leonid B., Kolyubin, Sergey A., Paramonov, Leonid V., Gusev, Sergey V.
Format: Article
Language:English
Subjects:
Asymptotic methods
Asymptotic properties
Control stability
Controllers
Dynamics
Feedback control
Industrial robotic manipulators
Industrial robots
Inverse dynamics
Manipulator dynamics
Manipulators
model-based feedback design
motion and trajectory planning
Motion stability
Orbital stability
orbital stabilization
path accuracy
Redesign
Robot arms
Robot kinematics
Service robots
Tracking control
Trajectories
Trajectory
transverse dynamics
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Summary:Orbital stabilization is one of the available alternatives to the classical asymptotic stabilization, known as the reference tracking control, which is typically considered and implemented for controlling motions of industrial robot manipulators. Since asymptotic orbital stability means convergence of solutions of a closed-loop system to an orbit of a reference trajectory, instead of tracking it as a function of time, new feedback designs can potentially improve performance with respect to several key criteria for industrial manipulators such as absolute path accuracy for tool's motions and robustness to uncertainties in the model. The main outcomes of this paper are a new class of controllers that achieve asymptotic orbital stabilization of motions and a novel analytical method for analysis and redesign of system's dynamics using an excessive set of easy-to-compute transverse coordinates. The contributions have been validated in a series of experimental studies performed on a standard industrial robot ABB IRB 140 with the IRC5-system extended with an open control interface. The outcomes of the tests show that the proposed redesign allows achieving significantly reduced deviations of the actual trajectories from the desired ones at different ranges of speeds and for several different paths, often outperforming the state-of-the-art commercial implementations. A comprehensive discussion of one of such experiments is given.
ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2016.2554520