کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
4948842 | 1439855 | 2017 | 17 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Flat control of industrial robotic manipulators
ترجمه فارسی عنوان
کنترل تخت از دستکاری رباتیک صنعتی
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کلمات کلیدی
ربات های صنعتی، شش درجه ربات آزادی، مسطح بودن دیفرانسیل، برنامه ریزی مسیر کنترل ردیابی،
موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
هوش مصنوعی
چکیده انگلیسی
A new approach to tracking control of industrial robot manipulators is presented in this paper. The highly coupled nonlinear dynamics of a six degrees of freedom (6-DOF) serial robot is decoupled by expressing its variables as a function of a flat output and a finite number of its derivatives. Hence the derivation of the flat output for the 6-DOF robot is presented. With the flat output, trajectories for each of the generalized coordinates are easily designed and open loop control is made possible. Using MATLAB/Simulink S-functions combined with the differential flatness property of the robot, trajectory tracking is carried out in closed loop by using a linear flat controller. The merit of this approach reduces the computational complexity of the robot dynamics by allowing online computation of a high order system at a lower computational cost. Using the same processor, the run time for tracking arbitrary trajectories is reduced significantly to about 10Â s as compared to 30Â min in the original study (Hoifodt, 2011). The design is taken further by including a Jacobian transformation for tracking of trajectories in cartesian space. Simulations using the ABB IRB140 industrial robot with full dynamics are used to validate the study.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 87, January 2017, Pages 226-236
Journal: Robotics and Autonomous Systems - Volume 87, January 2017, Pages 226-236
نویسندگان
Elisha D. Markus, John T. Agee, Adisa A. Jimoh,