Tuning Proportional-Integral-Derivative Gains of a Three-Dimensional RRRP Pick and Place Robot for Asymptotic Trajectory Tracking

IF 1.7 4区计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS

Journal of Dynamic Systems Measurement and Control-Transactions of the Asme Pub Date : 2021-04-01 DOI:10.1115/1.4048585

S. Dutta, B. S. Reddy, S. K. Dwivedy

引用次数: 1

Abstract

This paper uses the Floquet theory for tuning the feedback gains to stabilize the tracking errors of a revolute-revolute-revolute-prismatic (RRRP) robot moving in a three-dimensional (3D) workspace. This robot is driven by a proportional-integral-derivative (PID) control law, tracking a time-varying trajectory in joint space, without knowledge of any bounds of the inertia matrix and/or Jacobian of the gravity vector. The Floquet theory is used to obtain the values of feedback gains for which the asymptotic stability of the tracking errors is obtained. The numerical results obtained by Floquet theory are verified by the tracking error plots and phase portraits. The obtained results will be very useful for the control of any industrial robot, required to perform repetitive tasks like assembly of parts and inspection of products, amongst others.

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用于渐近轨迹跟踪的三维RRRP拾取机器人的比例-积分-导数增益调谐

本文利用Floquet理论对反馈增益进行调整，以稳定在三维工作空间中运动的旋转-旋转-旋转-棱镜(RRRP)机器人的跟踪误差。该机器人由比例-积分-导数(PID)控制律驱动，在关节空间中跟踪时变轨迹，不知道惯性矩阵和重力矢量的雅可比矩阵的任何边界。利用Floquet理论求出反馈增益的取值，得到了跟踪误差的渐近稳定性。通过跟踪误差图和相位图验证了Floquet理论的数值结果。所获得的结果将是非常有用的任何工业机器人的控制，需要执行重复的任务，如零件组装和产品检验，等等。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Dynamic Systems Measurement and Control-Transactions of the Asme 工程技术-仪器仪表

CiteScore

3.90

自引率

11.80%

发文量

审稿时长

24.0 months

期刊介绍： The Journal of Dynamic Systems, Measurement, and Control publishes theoretical and applied original papers in the traditional areas implied by its name, as well as papers in interdisciplinary areas. Theoretical papers should present new theoretical developments and knowledge for controls of dynamical systems together with clear engineering motivation for the new theory. New theory or results that are only of mathematical interest without a clear engineering motivation or have a cursory relevance only are discouraged. "Application" is understood to include modeling, simulation of realistic systems, and corroboration of theory with emphasis on demonstrated practicality.