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Control of an anthropomorphic manipulator using lugre friction model - design and experimental validatio
ID
Ali, Khurram
(
Author
),
ID
Mehmood, Adeel
(
Author
),
ID
Muhammad, Israr
(
Author
),
ID
Razzaq, Sohail
(
Author
),
ID
Iqbal, Jamshed
(
Author
)
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Abstract
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.
Language:
English
Keywords:
robotic manipulator
,
LuGre friction model
,
sliding mode control
Work type:
Article
Typology:
1.01 - Original Scientific Article
Organization:
FS - Faculty of Mechanical Engineering
Publication status:
Published
Publication version:
Version of Record
Year:
2021
Number of pages:
Str. 401-410
Numbering:
Vol. 67, no. 9
PID:
20.500.12556/RUL-132163
UDC:
62-5:621.8(045)
ISSN on article:
0039-2480
DOI:
10.5545/sv-jme.2021.7258
COBISS.SI-ID:
80482307
Publication date in RUL:
14.10.2021
Views:
1818
Downloads:
102
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Record is a part of a journal
Title:
Strojniški vestnik
Shortened title:
Stroj. vestn.
Publisher:
Zveza strojnih inženirjev in tehnikov Slovenije [etc.], = Association of Mechanical Engineers and Technicians of Slovenia [etc.
ISSN:
0039-2480
COBISS.SI-ID:
762116
Secondary language
Language:
Slovenian
Title:
Upravljanje antropomorfnega manipulatorja z modelom trenja LuGre - zasnova in eksperimentalna validacija
Keywords:
regulacija drsnega režima
,
prostostna stopnja
,
model trenja LuGre
,
avtonomna zglobna robotska izobraževalna platforma
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