کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
766902 | 897131 | 2013 | 10 صفحه PDF | دانلود رایگان |
![عکس صفحه اول مقاله: Nonlinear modeling and control of slosh in liquid container transfer via a PPR robot Nonlinear modeling and control of slosh in liquid container transfer via a PPR robot](/preview/png/766902.png)
This paper studies the point-to-point liquid container transfer control problem for a PPR robot. The robot manipulator is represented as three rigid links, and the liquid slosh dynamics are included using a multi-mass-spring model. It is assumed that two forces and a torque applied to the prismatic joints and the revolute joint, respectively, are available as control inputs. The objective is to control the robot end-effector movement while suppressing the sloshing modes. A nonlinear mathematical model that reflects all of these assumptions is first introduced. Then, Lyapunov-based feedback controllers are designed to achieve the control objective. Two cases are considered: partial-state feedback that does not use slosh state information and full-state feedback that uses both robot state and slosh state measurements or estimations. Computer simulations are included to illustrate the effectiveness of the proposed control laws.
► The liquid container transfer control problem for a PPR robot is formulated.
► A partial-state feedback law that does not use slosh state information is developed.
► A full-state feedback that uses slosh state information is designed.
► Simulations illustrate that full-state feedback outperforms the partial state feedback.
Journal: Communications in Nonlinear Science and Numerical Simulation - Volume 18, Issue 6, June 2013, Pages 1481–1490