Control of Unstable Systems Using a 7 DoF Robotic Manipulator

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F70883521%3A28140%2F22%3A63556498" target="_blank" >RIV/70883521:28140/22:63556498 - isvavai.cz</a>

Result on the web

<a href="https://www.mdpi.com/2075-1702/10/12/1164" target="_blank" >https://www.mdpi.com/2075-1702/10/12/1164</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.3390/machines10121164" target="_blank" >10.3390/machines10121164</a>

Result language

angličtina

Original language name

Control of Unstable Systems Using a 7 DoF Robotic Manipulator

Original language description

Robotic manipulators are widely used in industrial applications, and their rigidity and flexibility are very important factors during their deployment. However, their usage is not limited to repetitive point-to-point tasks and can be used for more real-time control of various processes. This paper uses a 7-degrees-of-freedom manipulator to control an unstable system (Ball and Plate) as a proof of concept. The Ball and Plate system is widely used for testing algorithms designed for unstable systems, and many recent works have dealt with robotic manipulators as a control motion system. Robots are not usually used to control unstable systems, but bipedal robots are an exception. This paper aims to design a controller capable of stabilizing an unstable system with solid robustness while keeping actuator action values as low as possible because these robots will be indented to work for a prolonged time. An algorithm for an LQ polynomial controller is described and designed, and the whole setup is tested for ball stabilization in the center. The results show that the designed controller stabilizes the ball even with large external and internal disturbances while keeping the controller effort as low as possible.

Czech name

—

Czech description

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Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

—

OECD FORD branch

20205 - Automation and control systems

Project

—

Continuities

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Publication year

2022

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

MACHINES

ISSN

2075-1702

e-ISSN

2075-1702

Volume of the periodical

10

Issue of the periodical within the volume

12

Country of publishing house

CH - SWITZERLAND

Number of pages

14

Pages from-to

1-14

UT code for WoS article

000901237100001

EID of the result in the Scopus database

2-s2.0-85144833410