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Flat control of industrial robotic manipulators

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dc.contributor.author Markus, Elisha D.
dc.contributor.author Agee, John T.
dc.contributor.author Jimoh, Adisa A.
dc.date.accessioned 2018-09-03T11:11:20Z
dc.date.available 2018-09-03T11:11:20Z
dc.date.issued 2017
dc.identifier.issn 0921-8890
dc.identifier.uri http://hdl.handle.net/11462/1642
dc.description Published Article en_US
dc.description.abstract A new approach to tracking control of industrial robot manipulators is presented in this paper. The highly coupled nonlinear dynamics of a six degrees of freedom (6-DOF) serial robot is decoupled by expressing its variables as a function of a flat output and a finite number of its derivatives. Hence the derivation of the flat output for the 6-DOF robot is presented. With the flat output, trajectories for each of the generalized coordinates are easily designed and open loop control is made possible. Using MATLAB/Simulink Sfunctions combined with the differential flatness property of the robot, trajectory tracking is carried out in closed loop by using a linear flat controller. The merit of this approach reduces the computational complexity of the robot dynamics by allowing online computation of a high order system at a lower computational cost. Using the same processor, the run time for tracking arbitrary trajectories is reduced significantly to about 10 s as compared to 30 min in the original study (Hoifodt, 2011). The design is taken further by including a Jacobian transformation for tracking of trajectories in cartesian space. Simulations using the ABB IRB140 industrial robot with full dynamics are used to validate the study. en_US
dc.format.extent 1 500 907 bytes, 1 file
dc.format.mimetype Application/PDF
dc.language.iso en_US en_US
dc.publisher Robotics and Autonomous Systems en_US
dc.relation.ispartofseries Volume 87;
dc.subject Industrial robots en_US
dc.subject Six degrees of freedom robot en_US
dc.subject Differential flatness en_US
dc.subject Trajectory planning en_US
dc.subject Tracking control en_US
dc.title Flat control of industrial robotic manipulators en_US
dc.type Article en_US

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