Motion Control of Three Links Robot Manipulator (Open Chain) with Spherical Wrist

  • Hassan Mohammad Alwan Department of Mechanical Engineering / University of Technology /Baghdad-Iraq
  • Zaid Hikmat Rashid Department of Mechanical Techniques / Al-Mussaib Technical Institute / ATU/ Babylon /Iraq

Abstract

Robot manipulator is a multi-input multi-output system with high complex nonlinear dynamics, requiring an advanced controller in order to track a specific trajectory. In this work, forward and inverse kinematics are presented based on Denavit Hartenberg notation to convert the end effector planned path from cartesian space to joint space and vice versa where a cubic spline interpolation is used for trajectory segments to ensure the continuity in velocity and acceleration.  Also, the derived mathematical dynamic model is based on Eular Lagrange energy method to contain the effect of friction and disturbance torques beside the inertia and Coriolis effect. Two types of controller are applied ; the nonlinear computed torque control (CTC) and the simpler form of its Proportional Derivative plus Gravity (PD+G)  where they are designed to reduce the tracking trajectory errors which tend to zero where the used Kp and Kv gains are 900,60. Also, the RMS errors for tracking a step input of CTC were equal to  [2.5E-14, 4.4E-14, 5.0E-14, -4.7E-14, -3.9E-14, -4.6E-14] (deg) and of PD+G were equal to [-1.77E-5, -1.22E-6, -4.28E-6, -8.97E-6, -1.32E-5, 1.05E-5] (deg)  for joints one to six, respectively. The results show that CTC is more accurate but requires additional acceleration input and is more computationally extensive and PD+G controller is performed with acceptable tracking errors in manipulator position control applications.

Downloads

Download data is not yet available.

References

K. M. Lynch and F. C. Park, Introduction To Modern Robotics Mechanics, Planning, and Control, no. May. 2016.

H. M. Al-Qahtani, A. A. Mohammed, and M. Sunar, “Dynamics and Control of a Robotic Arm Having Four Links,” Arab. J. Sci. Eng., vol. 42, no. 5, pp. 1841–1852, 2017.

M. W. M. H. Hadi and D. R. W. I. M. AL-Tameemi, “Modeling and Control of 5250 Lab-Volt 5 DoF Robot Manipulator,” IRAQI J. Comput. Commun. Control Syst. Eng., vol. 15, no. 2, pp. 34–46, 2015.

F. Piltan and M. Yarmahmoudi, “PUMA-560 robot manipulator position computed torque control methods using MATLAB/SIMULINK and their integration into graduate nonlinear control and MATLAB courses,” Int. J. Robot. Autom., vol. 3, no. 3, pp. 167–191, 2012.

B. Armstrong, O. Khatib, and J. Burdick, “The explicit dynamic model and inertial parameters of the PUMA 560 arm,” in Robotics and Automation. Proceedings. 1986 IEEE International Conference on, 1986, vol. 3, pp. 510–518.

D. Receanu, “Modeling and Simulation of the Nonlinear Computed Torque Control in Simulink / MATLAB for an Industrial Robot,” vol. 10, no. 2, pp. 95–106, 2013.

A. K. J. and R. B. M. hatem al-dois, “dynamic analysis of serial robot manipulators,” IJAMS, vol. 15, no. 2, 2015.

J. Kim, K. Chang, B. Schwarz, A. S. Lee, S. A. Gadsden, and M. Al-Shabi, “Dynamic Model and Motion Control of a Robotic Manipulator.,” JRNAL, vol. 4, no. 2, pp. 138–141, 2017.

M. W. Spong, S. Hutchinson, and M. Vidyasagar, Robot modeling and control, vol. 3. Wiley New York, 2006.

“Hassan Mohammad Alwan and Zaid Hikmat Rashid, 2018. Kinematic Analysis and Simulation of Three Link (Open Chain) Robot Manipulator with Six DOF. Journal of Engineering and Applied Sciences, 13: 1829-1834.” .

R. N. Jazar, Theory of applied robotics: kinematics, dynamics, and control. Springer Science & Business Media, 2010.

L. Sciavicco and B. Siciliano, Modelling and control of robot manipulators. Springer Science & Business Media, 2012.

B. Siciliano and O. Khatib, Springer handbook of robotics. Springer, 2016.

R. M. Murray, A mathematical introduction to robotic manipulation. CRC press, 2017.

C. T. Lewis, Frank L.; Dawson, Darren M.; Abdallah, Manipulator Control Theory and Practice. 2004.

Published
2019-05-12
How to Cite
Alwan, H., & Rashid, Z. (2019). Motion Control of Three Links Robot Manipulator (Open Chain) with Spherical Wrist. Al-Khwarizmi Engineering Journal, 15(2), 13- 23. https://doi.org/10.22153/kej.2019.12.001