Discontinuous Feedback Linearization of an Electrically Driven Fast Robot Manipulator
A multivariable discontinuous feedback linearization approach is proposed to position control of an electrically driven fast robot manipulator. A desired performance is achieved by selecting a useful controller and suitable sampling rate and considering saturation for actuators. There is a high flexibility to apply the proposed control approach on different electrically driven manipulators. The control approach can guarantee the stability and satisfactory tracking performance. A PUMA 560 robot driven by geared permanent magnet dc motors is simulated. The simulation results show a desired performance for control system under technical specifications.
[1] R. P. Srivastava, Use of genetic algorithms for optimization in digital control of dynamic systems, ACM, 1992, pp. 219-224. [2] A. Vivas, V. Mosquera, Predictive functional control of a PUMA robot, ACSE 05 Conference, CICC, Cairo, Egypt, 19-21 December 2005. [3] M. A. Henson, Feedback linearization strategies for nonlinear process Control, PhD thesis, The University of California at Santa Barbara, 1992. [4] A. Isidori, Nonlinear Control Systems, 3rd Edition, Springer-Verlag, 1995. [5] A. De Luca, and B. Siciliano, Trajectory control of a nonlinear one-link flexible arm, Int. J. Control 50(5), pp.1699-1715, 1989. [6] P. Lucibello, Non linear regulation with internal stability of a two link flexible robot arm, in Proceedings of the 28th Conference on Decision and Control, Tempa, FL, 1989. -1 -0.5 0 0.5 1-1-0.8-0.6-0.4-0.200.20.40.60.81Real PartImaginary Part Fig.13 Z plane [7] D. Wang, and M. Vidyasagar, Control of a class of manipulators with a single flexible link: Part II. Observer controller stabilization, Journal of Dynamic Systems, Measurement, and Control 113, pp. 662-668, 1991. [8] D. Wangand, M. Vidyasagar, Control of a class of manipulators with a single flexible link: Part I. Feedback linearization, Journal of Dynamic Systems, Measurement, and Control 113, pp. 655-661, 1991. [9] P. Lucibello, and M. D. Di Benedetto, Output tracking for a non linear flexible arm, Journal of Dynamic Systems, Measurement, and Control 115, pp.78-85, 1993. [10] T. J. Tarn, A. K. Bejczy, X. Yun, and Z. Li, Effects of motor dynamics on nonlinear feedback robot arm control, IEEE Transactions on Robotics and Automation, vol. 7. No. 1, pp. 114-122, February 1991. [11] J. Studenny, P-R. Belanger, L-K. Daneshmend, A digital implementation of the acceleration feedback control law on a PUMA 560 manipulator, Proceedings of the 30th conference on Decision and control, Brighton, Engeland, December 1991. [12] P. J. Baines, and J. K. Mills, Feedback Linearized Joint Torque Control of a Geared, DC Motor Driven Industrial Robot, the international journal of robotics research, pp.169-192, 1998. [13] G. Oriolo, A. D. Luca, and M, Vendittelli, WMR Control Via Dynamic Feedback Linearization: Design, Implementation, and Experimental Validation, IEEE Transactions on control systems technology, Vol. 10, NO. 6, pp. 835-852, November 2002. [14] T. Sugie, K. Fujimoto, and Y. Kito, Obstacle Avoidance of Manipulators With Rate Constraints, IEEE Transactions on robotics and Automation, Vol. 19, No. 1, pp.168-174, 2003. [15] A. De Luca, and P. Lucibello, A general algorithm for dynamic feedback linearization of robots with elastic joints, IEEE Int. Conf. on Robotics and Automation, pp. 504510, 1998. [16] B. dAndrea-Novel, G. Bastin, and G. Campion, Control of nonholonomic wheeled mobile robots by state feedback linearization. Int. J. of Robotics Research 14(6):543559, 1995. [17] M. W. Spong, M. Vidyasagar, Robot Dynamics And Control, John Wiley And Sons, 1989. [18] K.J. Astrom, and B. Wittenmark, Computer-Controlled Systems, Theory and Design, Prentice Hall information and System Science Series, 3rd edn, Prentice Hall, 1997. [19] P. I. Corke, in situ Measurement of Robot Motor Electrical Constants. [20] B. Armstrong, O. Khatib, J. Burdick, The Explicit Dynamic Model and Inertial Parameters of the PUMA 560, IEEE Transaction, pp.510-518, 1986. [21] P. I. Corke, B. Armstrong-Helouvry, A Search for consensus among model parameters reported for the PUMA 560 Robot. [22] P. I. Corke, The Unimation Puma servo system, MTM-226, July 1994. [23] K. Ogata, Discrete Time Control Systems, Translated by P. J. Maralani and A. Khakhi sedig, 2000.
[1] R. P. Srivastava, Use of genetic algorithms for optimization in digital control of dynamic systems, ACM, 1992, pp. 219-224. [2] A. Vivas, V. Mosquera, Predictive functional control of a PUMA robot, ACSE 05 Conference, CICC, Cairo, Egypt, 19-21 December 2005. [3] M. A. Henson, Feedback linearization strategies for nonlinear process Control, PhD thesis, The University of California at Santa Barbara, 1992. [4] A. Isidori, Nonlinear Control Systems, 3rd Edition, Springer-Verlag, 1995. [5] A. De Luca, and B. Siciliano, Trajectory control of a nonlinear one-link flexible arm, Int. J. Control 50(5), pp.1699-1715, 1989. [6] P. Lucibello, Non linear regulation with internal stability of a two link flexible robot arm, in Proceedings of the 28th Conference on Decision and Control, Tempa, FL, 1989. -1 -0.5 0 0.5 1-1-0.8-0.6-0.4-0.200.20.40.60.81Real PartImaginary Part Fig.13 Z plane [7] D. Wang, and M. Vidyasagar, Control of a class of manipulators with a single flexible link: Part II. Observer controller stabilization, Journal of Dynamic Systems, Measurement, and Control 113, pp. 662-668, 1991. [8] D. Wangand, M. Vidyasagar, Control of a class of manipulators with a single flexible link: Part I. Feedback linearization, Journal of Dynamic Systems, Measurement, and Control 113, pp. 655-661, 1991. [9] P. Lucibello, and M. D. Di Benedetto, Output tracking for a non linear flexible arm, Journal of Dynamic Systems, Measurement, and Control 115, pp.78-85, 1993. [10] T. J. Tarn, A. K. Bejczy, X. Yun, and Z. Li, Effects of motor dynamics on nonlinear feedback robot arm control, IEEE Transactions on Robotics and Automation, vol. 7. No. 1, pp. 114-122, February 1991. [11] J. Studenny, P-R. Belanger, L-K. Daneshmend, A digital implementation of the acceleration feedback control law on a PUMA 560 manipulator, Proceedings of the 30th conference on Decision and control, Brighton, Engeland, December 1991. [12] P. J. Baines, and J. K. Mills, Feedback Linearized Joint Torque Control of a Geared, DC Motor Driven Industrial Robot, the international journal of robotics research, pp.169-192, 1998. [13] G. Oriolo, A. D. Luca, and M, Vendittelli, WMR Control Via Dynamic Feedback Linearization: Design, Implementation, and Experimental Validation, IEEE Transactions on control systems technology, Vol. 10, NO. 6, pp. 835-852, November 2002. [14] T. Sugie, K. Fujimoto, and Y. Kito, Obstacle Avoidance of Manipulators With Rate Constraints, IEEE Transactions on robotics and Automation, Vol. 19, No. 1, pp.168-174, 2003. [15] A. De Luca, and P. Lucibello, A general algorithm for dynamic feedback linearization of robots with elastic joints, IEEE Int. Conf. on Robotics and Automation, pp. 504510, 1998. [16] B. dAndrea-Novel, G. Bastin, and G. Campion, Control of nonholonomic wheeled mobile robots by state feedback linearization. Int. J. of Robotics Research 14(6):543559, 1995. [17] M. W. Spong, M. Vidyasagar, Robot Dynamics And Control, John Wiley And Sons, 1989. [18] K.J. Astrom, and B. Wittenmark, Computer-Controlled Systems, Theory and Design, Prentice Hall information and System Science Series, 3rd edn, Prentice Hall, 1997. [19] P. I. Corke, in situ Measurement of Robot Motor Electrical Constants. [20] B. Armstrong, O. Khatib, J. Burdick, The Explicit Dynamic Model and Inertial Parameters of the PUMA 560, IEEE Transaction, pp.510-518, 1986. [21] P. I. Corke, B. Armstrong-Helouvry, A Search for consensus among model parameters reported for the PUMA 560 Robot. [22] P. I. Corke, The Unimation Puma servo system, MTM-226, July 1994. [23] K. Ogata, Discrete Time Control Systems, Translated by P. J. Maralani and A. Khakhi sedig, 2000.
@article{"International Journal of Information, Control and Computer Sciences:49982", author = "A. Izadbakhsh and M. M. Fateh and M. A. Sadrnia", title = "Discontinuous Feedback Linearization of an Electrically Driven Fast Robot Manipulator", abstract = "A multivariable discontinuous feedback linearization approach is proposed to position control of an electrically driven fast robot manipulator. A desired performance is achieved by selecting a useful controller and suitable sampling rate and considering saturation for actuators. There is a high flexibility to apply the proposed control approach on different electrically driven manipulators. The control approach can guarantee the stability and satisfactory tracking performance. A PUMA 560 robot driven by geared permanent magnet dc motors is simulated. The simulation results show a desired performance for control system under technical specifications.
", keywords = "Fast robot, feedback linearization, multivariabledigital control, PUMA560.", volume = "1", number = "5", pages = "1184-6", }
