Optimal and Robust Control of Multi DOF Robotic Manipulator: Design and Hardware Realization

被引：44

作者：

Ajwad, Syed Ali ^{[1
]}

Iqbal, Jamshed ^{[2
,3
]}

Ul Islam, Raza ^{[4
]}

Alsheikhy, Ahmed ^{[5
]}

Almeshal, Abdullah ^{[6
]}

Mehmood, Adeel ^{[1
]}

机构：

[1] COMSATS Inst Informat Technol, Dept Elect Engn, Islamabad, Pakistan

[2] FAST Natl Univ Comp & Emerging Sci, Dept Elect Engn, AK Brohi Rd,H-11-4, Islamabad, Pakistan

[3] Univ Jeddah, Elect & Comp Engn Dept, Jeddah, Saudi Arabia

[4] Aalborg Univ, Fac Sci & Engn, Aalborg, Denmark

[5] Northern Border Univ, Dept Elect Engn, Ar Ar, Saudi Arabia

[6] Publ Author Appl Educ & Training, Elect & Commun Dept, Kuwait, Kuwait

来源：

CYBERNETICS AND SYSTEMS | 2018年 / 49卷 / 01期

关键词：

AUTAREP manipulator; autonomous mechatronics process; industrial robotic manipulator; robotic arm control; SLIDING-MODE CONTROL; CONTROL STRATEGIES; ALGORITHM;

D O I：

10.1080/01969722.2017.1412905

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

Robots have become an integral part of industrial automation. Their ultimate role and contribution in this sector is essentially a function of the associated control strategy to ensure precision, repeatability, and reliability, particularly in an environment polluted with disturbances and uncertainties. This research aims to present a design of the modern control strategies for a 6 degree of freedom robotic manipulator. Based on derived kinematic and dynamic models of the robot, optimal and robust control strategies are simulated and practically realized on a custom developed pseudo-industrial framework named as AUTonomous Articulated Robotic Educational Platform. Results of the experimental trials in terms of trajectory tracking demonstrate efficiency and usefulness of the presented control approaches.

引用

页码：77 / 93

页数：17

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