한국산업융합학회 논문집 (Journal of the Korean Society of Industry Convergence)

  • 제19권1호
  • /
  • Pages.18-30
  • /
  • 2016
  • /
  • 1226-833X(pISSN)
  • /
  • 2765-5415(eISSN)
한국산업융합학회 (The Korean Society of Industry Convergence)
권호 표지
DOI QR코드

DOI QR Code

수직다관절형 아암의 운동학적 모델링 및 관절공간 모션제어에 관한 연구

A Study on Kinematics Modeling and Motion Control Algorithm Development in Joint for Vertical Type Articulated Robot Arma

  • 투고 : 2016.01.05
  • 심사 : 2016.02.05
  • 발행 : 2016.03.31
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

In this paper, we propose a new technique to the design and real-time control of an adaptive controller for robotic manipulator based on digital signal processors. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved Lyapunov second method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot manipulator with eight joints. joint space and cartesian space.

키워드

참고문헌

  1. S. Nicosia and P. Tomee, "Model Reference Adaptive Control Algorithm for Industrial Robots," Automatics, Vol. 20, No. 5, pp. 635-644, 1984. https://doi.org/10.1016/0005-1098(84)90013-X
  2. P. Tomei, "Adaptive PD Controller for Robot Manipulators," IEEE Trans. Robotics and Automation, Vol.7, No.4, Aug, 1991.
  3. R. Ortega and M.W. Spong, "Adaptive Motion Control of Rigid Robots: A Tutorial," Automatics, Vol. 25, pp. 877-888, 1989. https://doi.org/10.1016/0005-1098(89)90054-X
  4. A. Koivo and T. H. Guo, "Adaptive Linear Controller for Robot Manipulators." IEEE Transactions and Automatic Control, Vol. AC-28, pp. 162-171, 1983.
  5. H. Berghuis, R.Orbega, and H.Nijmeijer, "A Robust Adaptive Robot controller," IEEE Trans., Robotics and Automation, Vol. 9, No. 6, pp. 825-830, 1993. https://doi.org/10.1109/70.265925
  6. J. J. Craig, "Adaptive Control of Meduanical Manipulator," Addison-wesley, 1988.
  7. D. Koditschek, "Quadratic Lyapunov Functions for Mechanical Systems," Technical Report No. 8703, Yale University, New Haven, CT, 1983.
  8. T.C. Hasi, "Adaptive Control Scheme for Robot Manipulators-A Review," In Proceeding of the 1987 IEEE Conference on Robotics and Automation, San Fransisco, CA, 1986.
  9. S. Dubowsky, and D.T. DesForges, "The Application of Model Reference Adaptation Control to Robot Manipulators," ASME J. Dyn. Syst., Meas., Contr., Vol. 101, pp. 193-200, 1979. https://doi.org/10.1115/1.3426424
  10. Y.M. Yoshhiko, "Model Reference Adaptive Control for Nonlinear System with unknown Degrees," In the proceeding of American Control Conference, pp.2505-2514, Seatle, June 1995.
  11. Y.K. Choi, M.J. Chang, and Z. Bien, "An Adaptive Control Scheme for Robot Manipulators," IEEE Trans. Auto. Control., Vol. 44, No. 4, pp. 1185-1191, 1986.
  12. P.C.V. Parks, "Lyapunov Redesign of Model Reference Adaptive Control System," IEEE Trans. Auto. Control., Vol. AC-11, No. 3, pp. 362-267 , July 1966.