WORKSPACE CONTROL OF TWO LINK PLANAR ROBOT USING MICRO-BOX 2000
Keywords:Inverse Kinematics, Direct Cartesian, PD controller, two link open chain manipulator, 2R planar, disturbance observer (DOB), workspace observer (WOB)
AbstractThis paper presents the workspace/task space control of a two degree of freedom (DOF) two link planar robot manipulator with DC geared motor actuation. Due to the nature of the DC geared motor, PD controller system is designed for each joint of the actuator to minimize the error, improve performance and obtain desired response. This paper includes the modelling of the planar structure and the simulation of workspace control by two methods, inverse kinematics and Direct Cartesian. Then a disturbance compensation called Workspace Observer (WOB) is introduced to improve the Direct Cartesian method. Comparison between the three methods was done. The Direct Cartesian with DOB shows a better trajectory response compared to inverse kinematics.
Shukor, A. Z., Smadi, I. A., Fujimoto, Y. 2011. Development of a Biarticular Manipulator using Spiral Motors. 37th Annual Conference on IEEE, Industial Electronics Society. 92-97.
Shukor, A. Z., Fujimoto, Y. 2011. Workspace Control of Biarticular Manipulator. The IEEE Int. Conf. on Mechatronics. 415-420.
K. Liu, J. M. Fitzgerald, F. L. Lewis. 1993. Kinematics Analysis of a Stewart Platform Manipulator. IEEE Transactions on Industrial Electronics. 40(2): 282-293.
Pate, B., Langari Gholamreza. 1993. A Fuzzy Logic Based Controller for a Three Link Manipulator. Industrial Fuzzy Control and Intelligent Systems. 109-114.
Yahya, S., Mohamed, H. A. F., M. Moghavvemi, Yang, S. S. 2009. Inverse Kinematics of an Equal Length Links Planar Hyper Redundant Manipulator using Neural Network. ICROS-SICE Internation Joint Conference. 4530-4535.
C. H. An, C. G. Atkeson, J. D. Griffiths, J. M. Hollerbach. 1989. Experimental Evaluation of Feedforward and Computed Torque Control. IEEE Trans. on Robotics and Automation. 5(3): 368-373.
Oh, S., Kong Kyoungchul. 2015. Two-Degree-of-Freedom Control of a Two-Link Manipulator in the Rotating Coordinate System. IEEE Transactions on Industrial Electronics.
Sabanovic, A., Ohinishi, K. 2011. Advance Motion Control. John Wile & Sons.
Ohishi, K. Ohnishi, K., Miyachi, K. 1983. Torque-speed Regulation of DC Motor Based on Load Torque Estimation. In Proc. IEEJ IPEC-TOKYO. 2: 1209-1216.
Ohnishi, K., Shibata, M., Murakami, T. 1996. Motion Control for Advanced Mechatronics. IEEE/ASME Trans. Mechatronics. 1(1): 56-67.
Sariyildiz, E., Ohnishi, K. 2015. Stability and Robustness of Control Systems. IEEE Transactions on Industrial Electronics. 62(1).
Murakami, T., Yu, F., Ohinishi, K. 1993. Torque Sensorless Control in Multidegree-of-Freedom Manipulator. IEEE Transactions on Industrial Electronics. 40(2): 259-265.
An, C. H., Atkeson, C. G., Griffiths, J. D., Hollerbach, J. M. 1989. Experimental Evaluation of Feedforwad and Computed Torque Control. IEEE Transactions on Robotic and Automation. 5(3): 368-373.
Visioli, A., Lednani, G. 2002. On the Trajectory Tracking Control of Industrial SCARA Robot Manipulators. IEEE Transactions on Industrial Electronics. 49(1): 224-232.
Zhang, Y. X., Chong, S., Shang, W. W., Li, Z. X., Jiang, S. L. 2007. Modelling, Identification and Control of a Redundant Planar 2-DOF Parallel Manipulator. Int. Journal of Control, Automation and Systems. 5(5): 559-569.
Shukor, A. Z., Fujimoto, Y. 2012. Planar Task Space Control of a Biarticular Manipulator Driven by Spiral Motors. International Journal of Advanced Robotics Systems. 9.
M. W. Spong, M. Vidyasagar. 1989. Robot Dynamics and Control. John Wiley and Sons. 23-24.
Sariyildiz, E., Ohnishi, K. 2013. Robust Force Control via Disturbance Observer. IECON Proceedings (industrial Electronics Conference). 6551-6556.
E. Ishii, H. Nishi, K. Ohnishi, K. Ohnishi. 2007. Improvement of Performance in Bilateral Teleoperation by Using FPGA. IEEE Transactions on Industrial Electronics. 54(4): 1876-1884.
M. Franc, A. Hace. 2012. FPGA Implementation of Performance in Bilateral Teleoperation by Using FPGA. The 12th IEEE International Workshop on Advanced Motion Control.
H. Tanaka, K. Ohnishi, H. Nishi, T. Kawai, Y. Morikawa, M. Kitajima, S. Ozawa, T. Furukawa. 2007. Bilateral Control in Multi DOF Haptic Surgical Robotic System Utilizing FPGA. IEEE International Symposium on Industrial Electronics. 3084-3089.
How to Cite
Copyright of articles that appear in Jurnal Teknologi belongs exclusively to Penerbit Universiti Teknologi Malaysia (Penerbit UTM Press). This copyright covers the rights to reproduce the article, including reprints, electronic reproductions, or any other reproductions of similar nature.