Modeling and Control of Robotic Manipulators: A Fractional Calculus Point of View

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27240%2F21%3A10248080" target="_blank" >RIV/61989100:27240/21:10248080 - isvavai.cz</a>

Výsledek na webu

<a href="https://www.springerprofessional.de/en/modeling-and-control-of-robotic-manipulators-a-fractional-calcul/18877320" target="_blank" >https://www.springerprofessional.de/en/modeling-and-control-of-robotic-manipulators-a-fractional-calcul/18877320</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/s13369-020-05138-6" target="_blank" >10.1007/s13369-020-05138-6</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Modeling and Control of Robotic Manipulators: A Fractional Calculus Point of View

Popis výsledku v původním jazyce

This paper deals with the fractional-order modeling, stability analysis and control of robotic manipulators, namely a single flexible link robotic manipulator (SFLRM) and 2DOF Serial Flexible Joint Robotic Manipulator (2DSFJ). The control law is derived using Pole Placement (PP) method. This paper uses Mittag-Leffler function for the analysis of SFLRM in the time domain. The stability analysis of the fractional model is carried in a transformed Omega-Domain, and from the analysis, it is observed that the response of the fractional model of SFLRM robotic manipulator is stable. The main motive behind this analysis is to understand the fractional behavior of robotic manipulators, and it is well known from literature that most of the real-world systems have their own fractional behavior. Furthermore, a real-time SFLRM and 2DSFJ setups are considered to validate the results obtained and it is found that the control law suggested by PP method improves the settling time of the robotic manipulators.

Název v anglickém jazyce

Modeling and Control of Robotic Manipulators: A Fractional Calculus Point of View

Popis výsledku anglicky

This paper deals with the fractional-order modeling, stability analysis and control of robotic manipulators, namely a single flexible link robotic manipulator (SFLRM) and 2DOF Serial Flexible Joint Robotic Manipulator (2DSFJ). The control law is derived using Pole Placement (PP) method. This paper uses Mittag-Leffler function for the analysis of SFLRM in the time domain. The stability analysis of the fractional model is carried in a transformed Omega-Domain, and from the analysis, it is observed that the response of the fractional model of SFLRM robotic manipulator is stable. The main motive behind this analysis is to understand the fractional behavior of robotic manipulators, and it is well known from literature that most of the real-world systems have their own fractional behavior. Furthermore, a real-time SFLRM and 2DSFJ setups are considered to validate the results obtained and it is found that the control law suggested by PP method improves the settling time of the robotic manipulators.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20205 - Automation and control systems

Projekt

<a href="/cs/project/EF16_019%2F0000867" target="_blank" >EF16_019/0000867: Centrum výzkumu pokročilých mechatronických systémů</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2021

Kód důvěrnosti údajů

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

Název periodika

Arabian Journal for Science and Engineering

ISSN

2193-567X

e-ISSN

—

Svazek periodika

46

Číslo periodika v rámci svazku

10

Stát vydavatele periodika

DE - Spolková republika Německo

Počet stran výsledku

12

Strana od-do

9541-9552

Kód UT WoS článku

000616885800001

EID výsledku v databázi Scopus

2-s2.0-85100782756