Wyniki wyszukiwania - Biblioteka Nauki

1

Self-adaptive grey wolf optimization based adaptive fuzzy aided sliding mode control for robotic manipulator

100%

Kalshetti S. C. , Dixit S. K.

Control and Cybernetics

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2018

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tom Vol. 47, no. 4

383--409

EN

As the robotic manipulators are highly nonlinear, it is a challenging task to design, in particular, the PUMA 560 robotic arm with acceptable performance. This paper intends to show the design and development of an adaptive sliding mode controller (SMC) for a robotic manipulator. Since it is not realistic to match the SMC operations with the system model at every time instant, this paper adopts fuzzy inference to replace the system model. This approach successfully achieves the objectives of the experiment, carried out in two stages. In the first stage, it acquires the precise characteristics of the system model for the diverse samples and adequately represents the robotic manipulator. Subsequently, we derive the acquired characteristics in the form of fuzzy rules. In the second stage, we represent the derived fuzzy rules on the basis on adaptive fuzzy membership functions. Further, the approach introduces the self-adaptiveness into a recent algorithm called Grey Wolf Optimization (GWO) in order to establish the adaptive fuzzy membership functions. We then compare the effectiveness of the proposed method with the identified experimental model and the known methods, like SMC, Fuzzy SMC (FSMC), and GWO-SMC. Finally, the comparison with the known methods establishes the effectiveness of the proposed SAGWO-FSMC technique.

2

Adaptive control of redundant robotic manipulators with state constraints

100%

Galicki M.

International Journal of Applied Mechanics and Engineering

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2012

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tom Vol. 17, no. 4

1123-1138

EN

In this work, the problem of real-time controlling a kinematically redundant manipulator is considered, so that its end-effector follows the prescribed geometric path. Provided that, a solution to the control problem of redundant manipulator exists, the Lyapunov stability theory is used to derive the control scheme generating a corresponding trajectory whose equilibrium is asymptotically stable. The approach offered does not require any inverse of robot kinematic equations and the exact knowledge of robot dynamic equations. Instead, a generalized transpose Jacobian controller with adaptive component estimating the gravity term is introduced to generate robot controls. The numerical simulation results carried out for a planar redundant 3-dof (three degrees of freedom) manipulator whose end-effector follows a prescribed geometric path given in a two dimensional task space, illustrate the trajectory performance of the proposed control scheme.

3

Adaptive hybrid position/force control of manipulator

86%

Gierlak P. , Żylski W.

International Journal of Applied Mechanics and Engineering

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2012

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tom Vol. 17, no. 3

811-825

EN

The problem of the manipulators hybrid position/force control is not trivial because manipulators are objects with nonlinear and uncertain dynamics, unknown and variable parameters, and which operate in changeable conditions. Therefore the hybrid position/force control problem requires application of advanced control techniques for compensation of manipulator nonlinearities. The adaptive control system enables the manipulator to behave correctly, even if parameters of the mathematical model of the control object are unknown. In this paper, the hybrid position/force controller with an adaptive compensation of nonlinearities for the SCORBOT-ER 4pc robotic manipulator is presented. The control law and adaptive law presented herein guarantee practical stability of the closed-loop control system in the sense of Lyapunov. The results of a numerical simulation are presented.

4

Neuro-fuzzy control of a robotic manipulator

86%

Gierlak P. , Muszyńska M. , Żylski W.

International Journal of Applied Mechanics and Engineering

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2014

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tom Vol. 19, no. 3

575--584

EN

In this paper, to solve the problem of control of a robotic manipulator’s movement with holonomical constraints, an intelligent control system was used. This system is understood as a hybrid controller, being a combination of fuzzy logic and an artificial neural network. The purpose of the neuro-fuzzy system is the approximation of the nonlinearity of the robotic manipulator’s dynamic to generate a compensatory control. The control system is designed in such a way as to permit modification of its properties under different operating conditions of the two-link manipulator.

5

Adaptive control of the Scorbot-ER 4PC manipulator

72%

Gierlak P.

Zeszyty Naukowe Politechniki Rzeszowskiej. Mechanika

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2014

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tom z. 86 [290], nr 4

501--516

EN

The problem of the manipulator tracking control is not trivial because the manipulator is a nonlinear object, whose parameters may be unknown and variable. The control law should enable the manipulator to behave correctly even when operational conditions are changeable. The adaptive control system meets this requirement. In this paper, both kinematic and dynamic equations of motion for the Scorbot-ER 4pc are presented. The adaptive control algorithm was derived for this manipulator. The presented control and adaptive laws guarantee practical Lyapunov stability. The results of verification of theoretical investigations are presented. Experiments were carried out on a work station which consists of the Scorbot-ER 4pc robotic manipulator, a computer with Matlab and dSPACE ControlDesk software and a DS1006 digital signal processing board. In the experiments, the specified point of the manipulator has moved on a desired circular path and the gripper of the manipulator was loaded in variable ways. The operation of adaptive control system was compared with the computed moment method. From the result of the comparison we can see that, in practice, the adaptive control gives better results.

PL

Sterowanie ruchem nadążnym manipulatora nie jest prostym zagadnieniem, ponieważ manipulator jest nieliniowym obiektem, którego parametry mogą być nieznane i zmienne. Prawo sterowania powinno uwzględniać te aspekty i umożliwiać manipulatorowi poprawne działanie nawet wtedy, gdy warunki jego pracy są zmienne. Wymaganie to jest spełnione przy zastosowaniu adaptacyjnych układów sterowania. W artykule przedstawiono równania kinematyki i dynamiczne równania ruchu manipulatora Scorbot-ER 4pc. Zaprezentowane prawa sterownia i adaptacji gwarantują praktyczną stabilność w sensie Lapunowa. W pracy zamieszczono rezultaty weryfikacji prezentowanych rozwiązań teoretycznych. Eksperymenty przeprowadzono na stanowisku, które składa się z robota manipulacyjnego Scorbot-ER 4pc, komputera PC z oprogramowaniem Matlab i dSPACE ControlDesk oraz karty kontrolno-pomiarowej DS1006. Podczas eksperymentów wybrany punkt manipulatora poruszał się pożądanym torze kołowym, a chwytak manipulatora był obciążany zmiennym ładunkiem. Działanie adaptacyjnego układu sterowania porównano z działaniem układu z zaimplementowaną metodą wyliczanego momentu. Z porównania jakości sterowania wynika, że w praktyce lepsze wyniki zapewnia stosowanie sterowania adaptacyjnego.

6

Singularity robust trajectory generator for robotic manipulator based on genetic algorithm with dynamic encoding of solutions

72%

Gierlak P.

Zeszyty Naukowe Politechniki Rzeszowskiej. Mechanika

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2018

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tom z. 90 [298], nr 4

465--480

EN

In this paper a singularity robust trajectory generator for robotic manipulators is presented. The generator contains the procedure of solving the inverse kinematics problem. This issue is defined as an optimization problem, where a genetic algorithm is used for optimizing the fitness function. In order to avoid singularity problem, the generator is based on the direct kinematics problem. The trajectory generator allows to obtain generalized coordinates, velocities and accelerations. Simulation results show that the procedure generates a trajectory of manipulator even in kinematics singularities.

PL

W niniejszym artykule przedstawiono generator trajektorii robota manipulacyjnego odporny na osobliwości kinematyki. Generator zawiera procedurę rozwiązywania zadania odwrotnego kinematyki. Problem ten jest zdefiniowany jako problem optymalizacyjny, w którym algorytm genetyczny służy do optymalizacji funkcji dopasowania opierającej się na błędzie rozwiązania zadania. Aby wyeliminować problem osobliwości, generator wykorzystuje zadanie proste kinematyki. Generator trajektorii umożliwia uzyskanie uogólnionych współrzędnych, prędkości i przyspieszeń manipulatora. Wyniki symulacji wskazują, że opracowana procedura generuje trajektorię manipulatora nawet w przypadku wystąpienia osobliwości kinematyki.

7

Manipulative robot for knee rehabilitation of patients with Ilizarov apparatus mounted on the thigh

72%

Krysiak B. , Majchrzak J. , Pazderski D. , Sauer P.

Medical Robotics Reports

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2014

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tom vol. 3

13--18

EN

We present a new manipulative robotic system with 1 degree of freedom designed for increasing of the knee rehabilitation efficiency in case of patients with the femur distraction osteogenesis with use of Ilizarov apparatus. Based on the conducted analysis of the knee’s anatomy, biomechanical functionality of knee-joint and characteristics of considered medical treatment, overall assumptions concerning robotic assistance in knee rehabilitation process are formulated. Then we propose a simplified kinematic structure based on one rotational fixed axis taking into accountguidelines resulting from specificity of complications following a femur distraction osteogenesis with use of Ilizarov apparatus. The paper presents description of mechanical and measurement system for a considered manipulative robot. The issues regarding patient’s safety while realization of robotic rehabilitation are also discussed. Additionally, motion control and force control design issues are considered and some preliminary experimental results are presented.

8

Analiza więzów manipulatora w zadaniu zrobotyzowanej obróbki mechanicznej dyfuzora

72%

Gierlak P.

Zeszyty Naukowe Politechniki Rzeszowskiej. Mechanika

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2016

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tom z. 88 [293], nr 3

199--212

PL

Artykuł dotyczy analizy więzów geometrycznych narzuconych na końcówkę roboczą robota manipulacyjnego, którego zadaniem jest realizacja obróbki mechanicznej dyfuzora. Z punktu widzenia teorii sterowania, realizacja omawianego zadania jest traktowana jako sterowanie obiektem z ograniczeniami ruchu. Wymaga to określenia zadanej trajektorii układu sterowania robota rozumianej jako trajektoria pozycyjna oraz siłowa. W pracy zaprezentowano geometrię dyfuzora wraz z opisem matematycznym krawędzi, która ma zostać zatępiona. Podano zestaw więzów naturalnych i sztucznych, pozycyjnych i siłowych dla tego zadania oraz dla zadania wiercenia otworów. Podano sposób wyznaczania trajektorii pozycyjnej i siłowej, która będzie stanowić trajektorię zadaną układu sterowania robota. Zaprezentowano wyniki symulacji generowania trajektorii ruchu końcówki roboczej.

EN

This paper presents the analysis of the geometrical constraints of the robotic manipulator end effector, the task of which is the realisation of the diffuser machining. In terms of control theory, the realisation of this task is considered as a control of an object with partial movement restrictions. It requires determination of the desired trajectory of the robot’s control system understood as so-called position and force trajectory. In this paper the geometry of the diffuser and the mathematical description of edges that will be deburred, are presented. The sets of natural and artificial, position and force constraints for this task and for task of hole drilling are given. The procedure of determining position and force trajectory which will be the reference trajectory of robot’s control system is provided. The simulation results of generating robot’s tip trajectory are presented.

9

Neural control of robotic manipulation in contact with environment

72%

Gierlak P.

Prace Naukowe Politechniki Warszawskiej. Elektronika

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2022

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tom z. 197, t. 2

201-212

EN

This article presents the synthesis of the neural motion control system of robot in the case of disturbances of constraints limiting the movement, which are the result of flexibility and disturbances of the contact surface. A synthesis of the control law is presented, in which the knowledge of the robot’s dynamics and the parameters of a susceptible environment is not required. Moreover, the stability of the system is guaranteed in the case of an inaccurately known surface of the environment. This was achieved by introducing an additional module to the control law in directions normal to the surface of the environment. This additional term can be interpreted as the virtual viscotic resistance and spring force acting on the robot. This approach ensured the self-regulation of the robot’s interaction force with the compliant environment, limiting the impact of the geometrical inaccuracy of the environment.

10

Zastosowanie adaptacyjnego hybrydowego pozycyjno-siłowego sterowania manipulatorem w zrobotyzowanej obróbce mechanicznej

72%

Gierlak P.

Modelowanie Inżynierskie

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2013

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tom T. 15, nr 46

28--34

PL

W artykule przedstawiono zagadnienie zastosowania robota manipulacyjnego w procesie obróbki mechanicznej. Ze względu na specyfikę sterowanego procesu i obiektu, tzn. nieznajomość i niepewność parametrów modelu matematycznego, do sterowania procesem zastosowano algorytm adaptacyjny. W artykule podano model matematyczny obiektu sterowania, zaprezentowano hybrydowy pozycyjno-siłowy algorytm sterowania z adaptacją parametrów modelu matematycznego oraz zaprezentowano wyniki testu przeprowadzonego na stanowisku laboratoryjnym.

EN

This paper presents the problem of the application of the robotic manipulator in the machining. Due to the nature of the process and the controlled object, i.e. lack of knowledge and uncertainty parameters of the mathematical model, an adaptive algorithm for process control is used. In this paper the mathematical model of the controlled object, synthesis of the hybrid position-force control and results of a verification carried out on a laboratory stand are presented.

11

Robust force/position control based on mechatronic solution

58%

Osypiuk R. , Tarasiejski L. , Domek S.

Advances in Manufacturing Science and Technology

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2007

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tom Vol. 31, nr 3

27-43

EN

Application of a mechatronic system to improve the effectiveness of the position/force control for industrial manipulators is discussed in the paper. Owing to high stiffness of the kinematic chain and variable environment stiffness, there is a need to employ advanced control systems in order to provide stable force control. The concept proposed and presented in the paper is meant for use with a 6DOF platform, however preliminary tests have been performed on a 1DOF system.

PL

Dokonano analizy zastosowania mechatronicznego systemu w celu poprawy efektywności sterowania położeniem i siłą dla manipulatorów przemysłowych. Duża sztywność łańcucha kinematycznego oraz zmienna sztywność otoczenia powodują konieczność stosowania zaawansowanych systemów dla zapewnienia stabilnego przebiegu procesu regulacji siły. Proponowano i omówiono hipotezę z użyciem platformy 6DOF. Wstępny eksperyment praktyczny wykonano dla systemu z jednym stopniem swobody.