Modern Control Laws for an Articulated Robotic Arm: Modeling and Simulation

J. Iqbal

Abstract


The robotic manipulator has become an integral component of modern industrial automation. The current paper deals with the mathematical modeling and non-linear control of this manipulator. DH-parameters are used to derive kinematic model while the dynamics is based on Euler-Lagrange equation. Two modern control strategies, H∞ and model predictive control (MPC), are investigated to develop the control laws. For an optimal performance, the controllers have been fine-tuned through a simulation conducted in MATLAB/Simulink environment. The designed control laws are subjected to various inputs and tested for effectiveness in transient parameters like settling time and overshoot as well as steady state error. Simulation results confirm the effectiveness of the developed controllers by precisely tracking the reference motion trajectories.


Keywords


non-linear control; robotic arm manipulator; mechatronics; DH-parameters; Euler-Lagrange equation

Full Text:

PDF

References


J. Iqbal, R. U. Islam, S. Z. Abbas, A. A. Khan, S. A. Ajwad, “Automating industrial tasks through mechatronic systems–A review of robotics in industrial perspective”, Tehnicki Vjesnik, Vol. 23, No. 3, pp. 917-924, 2016

S. G. Khan, G. Herrmann, M. Al Grafi, T. Pipe, C. Melhuish, “Compliance control and human–robot interaction: Part 1—Survey”, International Journal of Humanoid Robotics, Vol. 11, No. 3, pp. 1430001-1430028, 2014

S. A. Ajwad, J. Iqbal, R. U. Islam, A. Alsheikhy, A. Almeshal, A. Mehmood, “Optimal and robust control of multi DOF robotic manipulator: Design and hardware realization”, Cybernetics and Systems, Vol. 49, No. 1, pp. 77-93, 2018

I. Ahmad, A. Saaban, A. Ibrahin, M. Shahzad, “A research on the synchronization of two novel chaotic systems based on a nonlinear active control algorithm”, Engineering, Technology & Applied Science Research, Vol. 5, No. 1, pp. 739-747, 2014

S. Irfan, A. Mehmood, M. T. Razzaq, J. Iqbal, “Advanced sliding mode control techniques for inverted pendulum: Modelling and simulation”, Engineering Science and Technology, an International Journal, Vol. 21, pp. 753-759, 2018

W. Alam, A. Mehmood, K. Ali, U. Javaid, S. Alharbi, J. Iqbal, “Nonlinear control of a flexible joint robotic manipulator with experimental validation”, StrojniSki Vestnik-Journal of Mechanical Engineering, Vol. 64, No. 1, pp. 47-55, 2018

O. Khan, M. Pervaiz, E. Ahmad, J. Iqbal, “On the derivation of novel model and sophisticated control of flexible joint manipulator”, Revue Roumaine des Sciences Techniques-Serie Electrotechnique et Energetique, Vol. 62, No. 1, pp. 103-108, 2017

A. Rezoug, B. Tondu, M. Hamerlain, “Experimental study of nonsingular terminal sliding mode controller for robot arm actuated by pneumatic artificial muscles”, IFAC Proceedings, Vol. 47, pp. 10113-10118, 2014

J. Iqbal, M. I. Ullah, A. A. Khan, M. Irfan, “Towards sophisticated control of robotic manipulators: An experimental study on a pseudo-industrial arm”, Strojniski Vestnik-Journal of Mechanical Engineering, Vol. 61, No.7-8, pp. 465-470, 2015

M. I. Ullah, S. A. Ajwad, M. Irfan, J. Iqbal, “MPC and H-infinity based feedback control of non-linear robotic manipulator”, IEEE International Conference on Frontiers of Information Technology, Islamabad, Pakistan, December 19-21, 2016

A. Bemporad, “Model predictive control design: New trends and tools”, IEEE Conference on Decision and Control, San Diego, USA, December 13-15, 2006

J. de la Casa Cardenas, A. S. Garcia, S. S. Martinez, J. G. Garcia, J. G. Ortega, “Model predictive position/force control of an anthropomorphic robotic arm”, IEEE International Conference on Industrial Technology, Seville, Spain, March 17-19, 2015

H. Ayala, R. Sampaio, D. M. Munoz, C. Llanos, L. Coelho, R. Jacobi, “Nonlinear model predictive control hardware implementation with custom-precision floating point operations”, 24th IEEE Mediterranean Conference on Control and Automation, Athens, Greece, June 21-24, 2016

M. Makarov, M. Grossard, P. Rodriguez-Ayerbe, D. Dumur, “Generalized predictive control of an anthropomorphic robot arm for trajectory tracking”, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Budapest, Hungary, July 3-7, 2011

J. O. Pedro, T. Tshabalala, “Hybrid NNMPC/PID control of a two-link flexible manipulator with actuator dynamics”, 10th IEEE Asian Control Conference, Kota Kinabalu, Malaysia, May 31-June 3, 2015

H. S. Ali, L. Boutat-Baddas, Y. Becis-Aubry, M. Darouach, “H∞ control of a SCARA robot using polytopic LPV approach”, 14th IEEE Mediterranean Conference on Control and Automation, Ancona, Italy, June 28-30, 2006

B. Chen, X. Liu, C. Lin, K. Liu, “Robust H∞ control of Takagi–Sugeno fuzzy systems with state and input time delays”, Fuzzy Sets and Systems, Vol. 160, No. 4, pp. 403-422, 2009

J. C. Doyle, K. Glover, P. P. Khargonekar, B. A. Francis, “State-space solutions to standard H/sub 2/and H/sub infinity/control problems”, IEEE Transactions on Automatic Control, Vol. 34, No. 8, pp. 831-847, 1989

M. Makarov, M. Grossard, P. Rodriguez-Ayerbe, D. Dumur, “Modeling and Preview H∞ control design for motion control of elastic-joint robots with uncertainties”, IEEE Transactions on Industrial Electronics, Vol. 63, No. 10, pp. 6429-6438, 2016

S. Manzoor, R. U. Islam, A. Khalid, A. Samad, J. Iqbal, “An open-source multi-DOF articulated robotic educational platform for autonomous object manipulation”, Robotics and Computer-Integrated Manufacturing, Vol. 30, No. 3, pp. 351-362, 2014

B. A. Francis, A Course in H∞ Control Theory, Lecture Notes in Control and Information Sciences, Springer-Verlag, 1987




eISSN: 1792-8036     pISSN: 2241-4487