Enhancing the Robot PD-Type Feedback Control Performance by Means of Inertial Effects Compensation

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216275%3A25530%2F20%3A39916814" target="_blank" >RIV/00216275:25530/20:39916814 - isvavai.cz</a>

Výsledek na webu

<a href="https://ieeexplore.ieee.org/xpl/conhome/9265488/proceeding" target="_blank" >https://ieeexplore.ieee.org/xpl/conhome/9265488/proceeding</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ICACR51161.2020.9265498" target="_blank" >10.1109/ICACR51161.2020.9265498</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Enhancing the Robot PD-Type Feedback Control Performance by Means of Inertial Effects Compensation

Popis výsledku v původním jazyce

The paper describes a modification of the PD-type algorithm with gravity effects compensation for control of robot manipulators, which tries to partially ompensate the influence of inertial terms in the robot motion equations to achieve uniform effect of control on individual axes. In this way it is possible to reduce the overall settling time and to enhance the tracking precision for given magnitude of the control signal, which is demonstrated on a 5-DOF robot example. In comparison to the inverse dynamics method, the influence of non-linear terms in the robot motion equations on total control input is reduced, which helps to increase the control performance and to prevent from reaching the saturation limits. For the basic version of the method asymptotical stability of the control error is proved.

Název v anglickém jazyce

Enhancing the Robot PD-Type Feedback Control Performance by Means of Inertial Effects Compensation

Popis výsledku anglicky

The paper describes a modification of the PD-type algorithm with gravity effects compensation for control of robot manipulators, which tries to partially ompensate the influence of inertial terms in the robot motion equations to achieve uniform effect of control on individual axes. In this way it is possible to reduce the overall settling time and to enhance the tracking precision for given magnitude of the control signal, which is demonstrated on a 5-DOF robot example. In comparison to the inverse dynamics method, the influence of non-linear terms in the robot motion equations on total control input is reduced, which helps to increase the control performance and to prevent from reaching the saturation limits. For the basic version of the method asymptotical stability of the control error is proved.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2020

Kód důvěrnosti údajů

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

Název statě ve sborníku

2020 4th Iternational Conference on Automation, Control and Robots (ICACR 2020)

ISBN

978-1-72819-207-9

ISSN

—

e-ISSN

—

Počet stran výsledku

6

Strana od-do

1-6

Název nakladatele

IEEE (Institute of Electrical and Electronics Engineers)

Místo vydání

New York

Místo konání akce

Řím

Datum konání akce

11. 10. 2020

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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