Khurram Ali (Avtor), Adeel Mehmood (Avtor), Israr Muhammad (Avtor), Sohail Razzaq (Avtor), Jamshed Iqbal (Avtor)

Povzetek

Automation technology has been extensively recognized as an emerging field in various industrial applications. Recent breakthrough in flexible automation is primarily due to deployment of robotic arms or manipulators. Autonomy in these manipulators is essentially linked with the advancements in non-linear control systems. The objective of this research is to propose a robust control algorithm for a five degree of freedom (DOF) robotic arm to achieve superior performance and reliability in the presence of friction. A friction compensation-based non-linear control has been proposed and realized for the robotic manipulator. The dynamic model of the robot has been derived by considering the dynamic friction model. The proposed three-state model is validated for all the joints of the manipulator. The integral sliding mode control (ISMC) methodology has been designed; the trajectories of system every time begin from the sliding surface and it eliminates the reaching phase with assistance of integral term in the sliding surface manifold. The designed control law has been first simulated in Matlab/Simulink environment to characterize the control performance in terms of tracking of various trajectories. The results confirm the effectiveness of the proposed control law with model-based friction compensation. The transient parameters like settling and peak time have improvement as well have better results with friction than without considering the friction. The proposed control law is then realized on an in-house developed autonomous articulated robotic educational platform (AUTAREP) and NI myRIO hardware interfaced with LabVIEW. Experimental results also witnessed the trajectory tracking by the robotic platform.

Ključne besede

robotic manipulator;LuGre friction model;sliding mode control;

Podatki

Jezik: Angleški jezik
Leto izida:
Tipologija: 1.01 - Izvirni znanstveni članek
Organizacija: UL FS - Fakulteta za strojništvo
UDK: 62-5:621.8
COBISS: 80482307 Povezava se bo odprla v novem oknu
ISSN: 0039-2480
Št. ogledov: 228
Št. prenosov: 38
Ocena: 0 (0 glasov)
Metapodatki: JSON JSON-RDF JSON-LD TURTLE N-TRIPLES XML RDFA MICRODATA DC-XML DC-RDF RDF

Ostali podatki

Sekundarni jezik: Slovenski jezik
Sekundarni naslov: Upravljanje antropomorfnega manipulatorja z modelom trenja LuGre - zasnova in eksperimentalna validacija
Sekundarne ključne besede: regulacija drsnega režima;prostostna stopnja;model trenja LuGre;avtonomna zglobna robotska izobraževalna platforma;
Vrsta dela (COBISS): Članek v reviji
Strani: str. 401-410
Letnik: ǂVol. ǂ67
Zvezek: ǂno. ǂ9
Čas izdaje: Sep. 2021
DOI: 10.5545/sv-jme.2021.7258
ID: 13700556