Motion tracking of a rigid-flexible link robotic system in an underactuated control mode

• Autorzy: Jarzębowska Elżbieta , Augustynek Krzysztof , Urbaś Andrzej

Identyfikatory

DOI

10.24425/bpasts.2023.144620

• Języki publikacji: EN

Abstrakty

EN

The paper presents its contribution to tracking control design of mechanical systems in underactuated mode conditions, i.e. when the number of actuators is less than the number of possible control inputs. Fully actuated mechanical systems are quite well-researched and controller designs are well-developed for them as well. However, due to costs, weight, design, and performance regimes or due to an actuator failure, the underactuated control mode is required in applications. With the aid of the computational procedure for constrained dynamics (CoPCoD), the constrained dynamics, i.e. the reference motion dynamics, and tracking control in an underactuated mode are designed for an example of a three-link planar manipulator model with rigid and flexible links. A dynamic optimization problem is formulated in the paper to obtain optimal time courses of manipulator joint coordinates in underactuated mode conditions in order to apply them to a manipulator driving links controller.

Słowa kluczowe

EN

manipulator; actuator failure; optimization; computational procedure for constrained dynamics; method CoPCoD

PL

manipulator; awaria siłownika; optymalizacja; metoda CoPCoD; procedura obliczeniowa dla dynamiki z ograniczeniami

• Wydawca: Polska Akademia Nauk, Wydział IV Nauk Technicznych
• Czasopismo: Bulletin of the Polish Academy of Sciences. Technical Sciences
• Rocznik: 2023
• Tom: Vol. 71, nr 3
• Strony: art. no. e144620
• Opis fizyczny: Bibliogr. 17 poz., rys., tab.

Twórcy

autor

Jarzębowska Elżbieta

• Warsaw University of Technology, Nowowiejska 24, 00-665 Warsaw, Poland

• https://orcid.org/0000-0003-1407-7546

autor

Augustynek Krzysztof

• University of Bielsko-Biala, Willowa 2, 43-309 Bielsko-Biala, Poland

autor

Urbaś Andrzej

• University of Bielsko-Biala, Willowa 2, 43-309 Bielsko-Biala, Poland

Bibliografia

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• [13] S.G. Nersesov, H. Ashrafiuon and P. Ghorbanian, “On the stability of sliding mode control for a class of underactuated nonlinear systems,” Proc. of the 2010 American Control Conference, USA, 2010, pp. 3446–3451.
• [14] J. Zhong-Ping, “Controlling underactuated mechanical systems: A review and open problems,” in Lecture Notes in Control and Information Sciences, 2010, vol. 407, pp. 77–88.
• [15] B. He, S.A. Wang and Y. Liu, “Underactuated robotics: A review,” Int. J. Adv. Robot. Syst., vol. 16, no. 4, pp. 1–29, 2019, doi: 10.1177/1729881419862164.
• [16] K. Augustynek and K. Warwas, “Optimization of deployment process of a satellite by applying genetic algorithms and distributed computing,” Informative Safety, Volodymyr Dahl East Ukrainian National University, vol. 1, no. 7, pp. 117–126, 2012.
• [17] K. Warwas, K. Augustynek, V. Martsenyuk, O. Korchenko, and V. Karpinskyi, “Application of EVCA algorithm in dynamic optimisation of the articulated vehicle motion for control of stability,” ICCAS 2016: 16th International Conference on Control, Automation and Systems, Korea, 2016, doi: 10.1109/ICCAS.2016.7832408.

Uwagi

Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2022-2023).