Feedback Linearized Model Predictive Control of a Two Link Robot Arm

Yıl 2024, Cilt: 8 Sayı: 1, 35 - 39, 31.07.2024

Mehmet Karahan

Öz

Nowadays, robotic arms are widely used in industry. Robotic arms are used in applications such as pick and place, arc welding, spot welding, packaging, machine maintenance, and material handling. Robot arms are used extensively especially in the automotive industry. The use of robotic arms reduces the need for labor, reduces costs and reduces work accidents. As the importance of robotic arms increases with the development of industry, the problem of controlling robot arms has also gained importance. In this study, modeling of a 2-link robot arm and model predictive controller (MPC) design were carried out. The nonlinear dynamic model of the robotic arm is linearized through feedback linearization. MATLAB and Simulink programs were used to model the linearized robotic arm. MPC controller design was carried out for the linearized robot arm model and thus the movements of the robot arm could be controlled. The simulations performed revealed that the designed MPC successfully controlled the robotic arm.

Anahtar Kelimeler

model predictive control, feedback linearization, mathematical model, manipulator dynamics, robot kinematics

Kaynakça

• [1] I. Daniyan, K. Mpofu, B. Ramatsetse, A. Adeodu, "Design and simulation of a robotic arm for manufacturing operations in the railcar industry," Procedia Manufacturing, vol. 51, pp. 67-72, 2020.
• [2] J. -D. Lee, W. -C. Li, J. -H. Shen and C. -W. Chuang, "Multi-robotic arms automated production line," 2018 4th International Conference on Control, Automation and Robotics (ICCAR), Auckland, New Zealand, 2018, pp. 26-30.
• [3] R. Wright, S. Parekh, R. White, D. P. Losey, “Safely and autonomously cutting meat with a collaborative robot arm,” Scientific Reports, vol. 14(1), pp. 299, 2024.
• [4] Y. Tian, W. Feng, M. Ouyang, H. Bian and Q. Chen, "A positioning error compensation method for multiple degrees of freedom robot arm based on the measured and target position error", Adv. Mech. Eng., vol. 14, no. 5, pp. 1-13, May 2022.
• [5] A. Talli and V. K. Meti, "Design simulation and analysis of a 6-axis robot using robot visualization software", IOP Conf. Series: Materials Science and Engineering, pp. 1-9, 2020.
• [6] W. Montalvo, J. Escobar-Naranjo, C. A. Garcia and M. V. Garcia, "Lowcost automation for gravity compensation of robotic arm", in Applied Sciences vol. 10(11), pp. 3823, 2020.
• [7] M. Javaid, A. Haleem, R. P. Singh, S. Rab and R. Suman, "Significant applications of Cobots in the field of manufacturing", Cognitive Robotics, vol. 2, pp. 222-233, 2022.
• [8] J.-C. Liao, S.-H. Chen, Z.-Y. Zhuang, B.-W. Wu and Y.-J. Chen, "Designing and Manufacturing of Automatic Robotic Lawn Mower", Processes, vol. 9, pp. 358, 2021.
• [9] J. D. J. Rubio et al., "Modified Linear Technique for the Controllability and Observability of Robotic Arms," in IEEE Access, vol. 10, pp. 3366-3377, 2022
• [10] M. Bi, "Control of Robot Arm Motion Using Trapezoid Fuzzy Two-Degree-of-Freedom PID Algorithm", Symmetry, vol. 12, pp. 450-455, 2020.
• [11] M. Karahan and C. Kasnakoglu, "Modeling a Quadrotor Unmanned Aerial Vehicle and Robustness Analysis of Different Controller Designs under Parameter Uncertainty and Noise Disturbance", Journal of Control Engineering and Applied Informatics, vol. 23, no. 4, pp. 13-24, December 2021.
• [12] K. Renuka, N. Bhuvanesh, J. R. Catherine, “Kinematic and dynamic modelling and PID control of three degree-of-freedom robotic arm,” In Advances in Materials Research: Select Proceedings of ICAMR, pp. 867-882, 2021.
• [13] A. T. Jawad, N. S. Ali, A. N. Abdullah and N. H. Alwash, "Design of Adaptive Controller for Robot Arm Manipulator Based on ANN with Optimized PID by IWO Algorithm," 2021 International Conference on Advanced Computer Applications (ACA), Maysan, Iraq, 2021, pp. 107-111.
• [14] S. Das, N. Dey, “Fuzzy Fractional Order PID Controller Design for Single Link Robotic Arm Manipulator,” Industrial Control Systems, 2024, pp. 203-230.
• [15] P. Sutyasadi, M. B. Wicaksono and D. Maneetham, "Improvement Control of a Three Axis Articulated Robotic Arm Using PID Cascade Control," 2023 11th International Conference on Cyber and IT Service Management (CITSM), Makassar, Indonesia, 2023, pp. 1-4.
• [16] M. Karahan and C. Kasnakoglu, "LQR Control and Observer Design of a Magnetically Suspended Ball," 2022 International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA), Ankara, Turkey, 2022, pp. 1-4.
• [17] T. Song, Y. Li, S. Ma, H. Li, “LQR Optimal Control Method Based on Two-Degree-of Freedom Manipulator,” In International Conference on Neural Computing for Advanced Applications, pp. 477-488, 2022.
• [18] A. Ortega–Vidal, F. Salazar–Vasquez and A. Rojas–Moreno, "A comparison between optimal LQR control and LQR predictive control of a planar robot of 2DOF," 2020 IEEE XXVII International Conference on Electronics, Electrical Engineering and Computing (INTERCON), Lima, Peru, 2020, pp. 1-4.
• [19] C. Choubey and J. Ohri, "Tuning of LQR-PID controller to control parallel manipulator", Neural Comput. Appl., vol. 34, no. 4, pp. 3283-3297, 2022.