On-line Self Tuning of Contouring Control for High Accuracy Robot Manipulators under Various Operations

We present the method of online self-tuning PD controller for the problem of contouring control of robot manipulators. Previously, the dynamics of the robot is transformed into dynamic errors problem by considering the equivalent errors method. It becomes the control problem of stabilization such th...

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Bibliographic Details
Published in:International journal of control, automation, and systems 2020, Automation, and Systems, 18(7), , pp.1818-1828
Main Authors: Li, Kelin, Boonto, Sudchai, Nuchkrua, Thanana
Format: Article
Language:English
Subjects:
Adaptive control
Adaptive filters
Contouring
Control
Controllers
Engineering
Extended Kalman filter
Fuzzy control
Manipulators
Mechatronics
Regular Papers
Robot arms
Robot control
Robotics
Robots
Robust control
Self tuning
Stabilization
제어계측공학
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Summary:We present the method of online self-tuning PD controller for the problem of contouring control of robot manipulators. Previously, the dynamics of the robot is transformed into dynamic errors problem by considering the equivalent errors method. It becomes the control problem of stabilization such that it is suitable for advanced control to improve control performance regarding contouring control, i.e., contour accuracy with high speed. Conventional PD tuned by the fuzzy controller with robust extended Kalman filter where it was acting as the robust adaptive controller is utilized to stabilize that control problem. It could determine the stationary point of different processes without knowing prior. In practice, the proposed controller is easily dealt with the problem of stabilization. The experiment results reveal that the proposed technique yields excellent performance under a large disturbance.
ISSN:1598-6446
2005-4092
DOI:10.1007/s12555-019-0110-9