Overshoot Avoiding Control for Rigid Robots

Figen Özen

doi:10.5152/tepes.2024.24005

Overshoot Avoiding Control for Rigid Robots

Abstract

Control of robots to ensure safe operation has been a current research topic ever since the manipulators were utilized in industrial applications. Humans and robots work together collaboratively more often these days. Providing a safer operation has become an issue that requires more attention. In this paper, the application of a control algorithm that combines a proportional plus derivative controller with an overshoot avoidance trajectory tracking mechanism is introduced. The operation of the algorithm is illustrated on a two-link planar manipulator. The performance is shown both by means of graphs of end effector trajectories and mean absolute error metric. The results indicate that depending on the gain of the proportional plus derivative controller, desired trajectories can be followed very closely and the error becomes negligibly small.

Keywords

References

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Details

Primary Language

English

Subjects

Electrical Engineering (Other)

Journal Section

Research Article

Authors

Figen Özen ^*
0000-0002-1759-0073
Türkiye

Publication Date

June 24, 2024

Submission Date

February 21, 2024

Acceptance Date

March 23, 2024

Published in Issue

Year 2024 Volume: 4 Number: 2

DOI

https://doi.org/10.5152/tepes.2024.24005

IZ

https://izlik.org/JA84UC89GD

Cite

RIS / Bibtex

APA

Özen, F. (2024). Overshoot Avoiding Control for Rigid Robots. Turkish Journal of Electrical Power and Energy Systems, 4(2), 57-62. https://doi.org/10.5152/tepes.2024.24005

AMA

1.Özen F. Overshoot Avoiding Control for Rigid Robots. TEPES. 2024;4(2):57-62. doi:10.5152/tepes.2024.24005

Chicago

Özen, Figen. 2024. “Overshoot Avoiding Control for Rigid Robots”. Turkish Journal of Electrical Power and Energy Systems 4 (2): 57-62. https://doi.org/10.5152/tepes.2024.24005.

EndNote

Özen F (June 1, 2024) Overshoot Avoiding Control for Rigid Robots. Turkish Journal of Electrical Power and Energy Systems 4 2 57–62.

IEEE

[1]F. Özen, “Overshoot Avoiding Control for Rigid Robots”, TEPES, vol. 4, no. 2, pp. 57–62, June 2024, doi: 10.5152/tepes.2024.24005.

ISNAD

Özen, Figen. “Overshoot Avoiding Control for Rigid Robots”. Turkish Journal of Electrical Power and Energy Systems 4/2 (June 1, 2024): 57-62. https://doi.org/10.5152/tepes.2024.24005.

JAMA

1.Özen F. Overshoot Avoiding Control for Rigid Robots. TEPES. 2024;4:57–62.

MLA

Özen, Figen. “Overshoot Avoiding Control for Rigid Robots”. Turkish Journal of Electrical Power and Energy Systems, vol. 4, no. 2, June 2024, pp. 57-62, doi:10.5152/tepes.2024.24005.

Vancouver

1.Figen Özen. Overshoot Avoiding Control for Rigid Robots. TEPES. 2024 Jun. 1;4(2):57-62. doi:10.5152/tepes.2024.24005