Control of Unstable Systems Using a 7 DoF Robotic Manipulator

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Control of Unstable Systems Using a 7 DoF Robotic Manipulator

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Control of Unstable Systems Using a 7 DoF Robotic Manipulator

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20205 - Automation and control systems

Projekt

—

Návaznosti

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2022

Kód důvěrnosti údajů

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

Název periodika

MACHINES

ISSN

2075-1702

e-ISSN

2075-1702

Svazek periodika

10

Číslo periodika v rámci svazku

12

Stát vydavatele periodika

CH - Švýcarská konfederace

Počet stran výsledku

14

Strana od-do

1-14

Kód UT WoS článku

000901237100001

EID výsledku v databázi Scopus

2-s2.0-85144833410