BASED JOINT TRAJECTORY CONTROL OF 6-DOF ROBOT MANIPULATOR BY USING GENERALIZED PREDICTIVE CONTROL

Year 2010, Issue: 022, 22 - 32, 15.08.2010

Burhanettin Durmuş Hasan Temurtaş

Abstract

In this study, generalized predictive controller
(GPC) was designed for based joint trajectorycontrol of
6-DOF(Degree-Of-Freedom) robotic manipulator. Modeling of the dynamics of the
robotic manipulator was made by using the Lagrange-Euler equations and the
cubic trajectory principle was used for trajectory planning. Designed
controller computes values of torque belonging to joints through motion.
CARIMA(Controlled Auto-Regresive Integrated Moving Average) model was used for
prediciton model. The parameter estimation was carried out using the RLS(Recursive
Least Squares.

Keywords

Robotic control, trajectory planning, predictive contol

ÖNGÖRÜLÜ KONTROL İLE ALTI EKLEMLİ BİR ROBOT KOLUNUN EKLEM ESASLI YÖRÜNGE KONTROLÜ

Abstract

Bu çalışmada altı eklemli bir robot kolunun eklem
esaslı yörünge kontrolü için genelleştirilmiş öngörülü kontrolör (GPC) tasarlanmıştır.
Robot kolunun dinamik modellemesinde Lagrange-Euler yöntemi kullanılmış,
yörünge planlaması sinüzoidal yörünge prensibine göre yapılmıştır. Tasarlanan
kontrolör, istenilen yörünge boyunca robot kolu eklemlerini kontrol edecek uygun
tork değerlerini üretmektedir. Öngörü modeli için CARIMA (Controlled Auto
Regressive Integrated Moving Average) doğrusal formu kullanılmış, parametre kestirim
işlemi ise en küçük kareler yöntemi (Recursive Least Squares-RLS) ile
gerçeklenmiştir.       

Keywords

Robot kontrolü, yörünge planlaması, öngörülü kontrol

References

• [1] H. Temurtaş, “Üç Eklemli Bir Robot Kolunun Nöro Genelleştirilmiş Öngörülü Kontrol İle Eklem Esaslı Yörünge Kontrolü”, Doktora Tezi, Sakarya Üniversitesi Fen Bilimleri Enstitüsü, (2004).
• [2] F.C. Sun, Z.Q. Sun, and P.Y. Woo, “Neural network-based adaptive controller design of robotic manipulators with an observer”, IEEE Transactions Neural Networks, 12 (1), 55 (2001).
• [3] F. Alonge, F.D. Ippolito, and F.M. Raimondi, “An adaptive control law for robot manipulators without velocity feedback”, Control Engineering Practice, 11, 1000 (2003).
• [4] O. Nasisi and R. Carelli, “Adaptive servo visual robot control”, Robotics and Autonomous Systems, 43, 54 (2003).
• [5] D.W. Clarke, C. Mohtadi, and P.C. Tuffs, “Generalized predictive control - part 1: The basic algorithm”, Automatica, 23, 137-145 (1987).
• [6] D.W. Clarke, C. Mohtadi, and P.C. Tuffs, “Generalized predictive control - part 2: The basic algorithm”, Automatica, 23, 149-163 (1987).
• [7] D.W. Clarke, C. Mohtadi, and P.C. Tuffs, “Generalized predictive control: A new robust self-tuning algorithm in landau, I. D., and L. Dugard (Editors). Commande Adaptive - Aspects Pratiques et Theoriques, Masson, Paris, 220 (1987).
• [8] D.W. Clarke and L. Zhang, “Long-range predictive control using weighting-sequence models”, Control Theory and Applications, 134(3), 194 (1987).
• [9] D.W. Clarke and C. Mohtadi, “Properties of generalized predictive control” Automatica, 25(6), 870 (1989).
• [10] J. Zhang, J. Wei, and T. Zhong, “A generalized predictive controller to a thermal process for batch dyeing process”, International Conference on Information Acquisition 2004, China, 433 (2004).
• [11] J.E. Normey-Rico and E.F. Camcho, “Robust design of GPC for process with time delay”, International Journal Robust Nonlinear Control, 10(13), 1110 (2000).
• [12] B. Armstrong, O. Khatib, and J. Burdick, “The explicit dynamic model and inertial parameters of the PUMA 560 arm”, IEEE Conference on Robotics and Automation, 3, 516 (1986).
• [13] M.W. Spong and M. Vidyasagar, “Robot Dynamics and Control”, John Wiley & Sons, New York, 50 (1989).
• [14] J. Draye, D. Pavisic, G. Libert, “Dynamic recurrent neural network: a dynamical analysis”, IEEE Transactions on Systems Man and Cybernetics Part B 26(5), 700 (1996).
• [15] J. Rodrigo, H.A. Marcelo, D. Oetomo, O. Khatib, T.M. Lim, S.Y. Lim, “The operational space formulation implementation to aircraft canopy polishing using a mobile manipulator”, International Conference on Robotics&Automation, Whashington D C. USA, 400 (2002).
• [16] F. Temurtas, H. Temurtas, and N. Yumusak, “Application of neural generalized predictive control to robotic manipulators with a cubic trajectory and random disturbances”, Robotics and Autonomous Systems, 54, 82 (2005).