Nonlinear Controller with Dynamic Compensation for 6-DOF Manipulator in Practice
Corressponding author's email:
thientd@hcmute.edu.vnDOI:
https://doi.org/10.54644/jte.75A.2023.1273Keywords:
Dynamic Compensation, Nonlinear control, PD Control, 6-DOF manipulator, Lyapunov theoryAbstract
This paper presents a nonlinear controller with dynamic compensation for six degrees of freedom (6-DOF) manipulator Denso VS-6556 in practice. The manipulator is a complex nonlinear system with some limitations when applying a linear controller to control it. The nonlinear controller combines proportional derivative, and dynamic compensation is established to deal with this problem. The PD control is a linear controller, and dynamic compensation can cancel the nonlinear parts in the system. Therefore, the tracking problem is expected to result in a good performance. The stability and resilience of the entire system are examined using a Lyapunov technique. The test bench is built to ensure the conditions for experimentation; it includes card PCI QUAD04s, NI PCI-6713, industrial computer 610H Advantage, and MATLAB/Simulink in practice. Finally, the suggested control is subjected to the 6-DOF manipulator Denso 6556 and compared with the PD control to verify the effectiveness of the controller.
Downloads: 0
References
N. Nikdel, M. A. Badamchizadeh, V. Azimirad, and M. A. Nazari, "Adaptive back-stepping control for an n-degree of freedom robotic manipulator based on combined state augmentation," Robotics and Computer-Integrated Manufacturing, vol. 44, pp. 129-143, 2017, doi: 10.1016/j.rcim.2016.08.007.
T. D. Thien, D. M. Tri, and T. T. Luong, "Adaptive sliding mode control design with genetic algorithm for a 2-DOF robotic manipulator with uncertainties," in the 6th International Conference and Exhibition on Control and Automation, Vietnam, 2022, Paper 37.
T. Yang, N. Sun, Y. Fang, X. Xin, and H. Chen, "New Adaptive Control Methods for $n$-Link Robot Manipulators With Online Gravity Compensation: Design and Experiments," IEEE Transactions on Industrial Electronics, vol. 69, no. 1, pp. 539-548, 2022, doi: 10.1109/tie.2021.3050371.
H. J. Kang et al., "A Backstepping Global Fast Terminal Sliding Mode Control for Trajectory Tracking Control of Industrial Robotic Manipulators," IEEE Access, vol. 9, pp. 31921-31931, 2021, doi: 10.1109/ACCESS.2021.3060115.
T. D. Thien et al., "A Finite -Time Robust Control for a Manipulator with Output Constraints and Unknown Control Directions," in 2020 5th International Conference on Green Technology and Sustainable Development (GTSD), Nov. 2020, pp. 185-191, doi: 10.1109/GTSD50082.2020.9303058.
T. D. Thien, M. Jin, and K. K. Ahn, "Nonlinear Extended State Observer Based on Output Feedback Control for a Manipulator With Time-Varying Output Constraints and External Disturbance," IEEE Access, vol. 7, pp. 156860-156870, 2019, doi: 10.1109/ACCESS.2019.2949594.
K. Lochan, S. Suklabaidya, and B. K. Roy, "Sliding mode and adaptive sliding mode control approaches of two link flexible manipulator," in Proceedings of the 2015 Conference on Advances In Robotics - AIR '15, 2015, pp. 1-6.
T. D. Thien and N. T. Quang, "Fault-Tolerant Sliding Mode Controller For a 4 Degree of Freedom Robotic Manipulator," in 13th Asian Control Conference (ASCC), May 2022, pp. 1347-1352, doi: 10.23919/ASCC56756.2022.9828134.
T. D. Thien, D. T. Cuong, and K. K. Ahn, "Extended High Gain Observer-Based Sliding Mode Control for an Electro-hydraulic System with a Variant Payload," International Journal of Precision Engineering and Manufacturing, vol. 20, no. 12, pp. 2089-2100, 2019, doi: 10.1007/s12541-019-00256-0.
Q. Guo, Y. Zhang, B. G. Celler, and S. W. Su, "Neural Adaptive Backstepping Control of a Robotic Manipulator With Prescribed Performance Constraint," IEEE Trans. Neural Netw. Learn Syst., vol. 30, no. 12, pp. 3572-3583, Dec. 2019, doi: 10.1109/TNNLS.2018.2854699.
V. A. Tuan and H. J. Kang, "Adaptive Neural Integral Full-Order Terminal Sliding Mode Control for an Uncertain Nonlinear System," IEEE Access, vol. 7, pp. 42238-42246, 2019, doi: 10.1109/ACCESS.2019.2907565.
V. A. Tuan and H. J. Kang, "An Adaptive Terminal Sliding Mode Control for Robot Manipulators With Non-Singular Terminal Sliding Surface Variables," IEEE Access, vol. 7, pp. 8701-8712, 2019.
T. H. Vu et al., "Adaptive Fuzzy Backstepping Sliding Mode Control for a 3-DOF Hydraulic Manipulator with Nonlinear Disturbance Observer for Large Payload Variation," Applied Sciences, vol. 9, no. 16, 2019, doi: 10.3390/app9163290.
J. T. Wen and D. S. Bayard, "New class of control laws for robotic manipulators Part 1. Non–adaptive case," International Journal of Control, vol. 47, no. 5, pp. 1361-1385, 1988, doi: 10.1080/00207178808906102.
M. Takegaki and S. Arimoto, "A New Feedback Method for Dynamic Control of Manipulators," Journal of Dynamic Systems, Measurement, and Control, vol. 103, no. 2, pp. 119-125, 1981, doi: 10.1115/1.3139651.
L. N. Truc and N. T. Lam, "Quasi-physical modeling of robot IRB 120 using Simscape Multibody for dynamic and control simulation," Turkish Journal of Electrical Engineering & Computer Sciences, vol. 28, no. 4, pp. 1949-1964, 2020, doi: 10.3906/elk-1909-131.
X. B. Duong, A. T. Phan, D. N. Do, X. H. Dang, K. N. Truong, and N. A. Mai, "Optimize the Feed Rate and Determine the Joints Torque for Industrial Welding Robot TA 1400 Based on Kinematics and Dynamics Modeling," International Journal of Mechanical Engineering and Robotics Research, pp. 1335-1340, 2020, doi: 10.18178/ijmerr.9.9.1335-1340.
V. T. Tai, D. N. Minh, and D. X. Ba, "A PD-Folding-Based Controller for a 4DOF Robot," in International Conference on Green Technology and Sustainable Development, 2020, pp. 117-129.
L. N. Truc, N. V. Quyen, and N. P. Quang, "Dynamic Model with a New Formulation of Coriolis/Centrifugal Matrix for Robot Manipulators," Journal of Computer Science and Cybernetics, vol. 36, no. 1, pp. 89-104, 2020, doi: 10.15625/1813-9663/36/1/14557.
Downloads
Published
How to Cite
Issue
Section
Categories
License
Copyright (c) 2023 Journal of Technical Education Science
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.
Copyright © JTE.
