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Time Optimal Trajectory Planning Algorithm for robotic manipulator Based on Locally Chaotic Particle Swarm Optimization

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Chinese Journal of Electronics 2022年第5期31卷 906-914页

作者： DU Yuxiao CHEN Yihang School of Automation Guangdong University of Technology

Optimal trajectory planning is a fundamental problem in the area of robotic research. On the time-optimal trajectory planning problem during the motion of a robotic arm, the method based on segmented polynomial interpolation function with a locally chaotic particle swarm optimization(LCPSO) algorithm is proposed in this paper. While completing the convergence in the early or middle part of the search, the algorithm steps forward on the problem of local convergence of traditional particle swarm optimization(PSO) and improved learning factor PSO(IFPSO) algorithms. Finally, simulation experiments are executed in joint space to obtain the optimal time and smooth motion trajectory of each joint,which shows that the method can effectively shorten the running time of the robotic manipulator and ensure the stability of the motion as well.

关键词： robotic manipulator Polynomial interpolation Particle swarm optimization (PSO) Chaotic motion

Adaptive control for an uncertain robotic manipulator with input saturations

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Control Theory and Technology 2016年第2期14卷 113-121页

作者： Trong-Toan TRAN Shuzhi Sam GE Wei HE Center for robotics and School of Automation Engineering University of Electronic Science and Technology of China (UESTC) Chengdu Sichuan 611731 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Faculty of Electronic Technology Industrial University of rio Chi Minh City Ho Chi Minh City Vietnam School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing 100083 China

In this paper, we address the control problem of an uncertain robotic manipulator with input saturations, unknown input scalings and disturbances. For this purpose, a model reference adaptive control like （MRAC-like） is used to handle the input saturations. The model reference is input to state stable （ISS） and driven by the errors between the required control signals and input saturations. The uncertain parameters are dealt with by using linear-in-the-parameters property of robotic dynamics, while unknown input scalings and disturbances are handled by non-regressor based approach. Our design ensures that all the signals in the closed-loop system are bounded, and the tracking error converges to the compact set which depends on the predetermined bounds of the control inputs. Simulation on a planar elbow manipulator with two joints is provided to illustrate the effectiveness of the proposed controller.

关键词： robotic manipulator adaptive control uncertain parameter input saturation trajectory tracking

Wavelet network solution for the inverse kinematics problem in robotic manipulator

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2006年第4期7卷 525-529页

作者： CHEN Hua CHEN Wei-shan XIE Tao School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China

Wavelet network, a class of neural network consisting of wavelets, is proposed to solve the inverse kinematics problem in robotic manipulator. A wavelet network suitable for dealing with multi-input and multi-output system is constructed. The network is optimized by reducing the number of wavelets handling large dimension problem according to the sample data. The algorithms for sparseness analysis of input data and fitting wavelets to the output data with orthogonal method are introduced. Then Levenberg-Marquardt algorithm is used to train the network. Simulation results showed that this method is capable of solving the inverse kinematics problem for PUMA560.

关键词： Inverse kinematics problem robotic manipulator Wavelet network

维普期刊数据库

Fuzzy Logic Control of a robotic manipulator for Obstacles Avoidance

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Journal of Mechanics Engineering and Automation 2012年第1期2卷 9-16页

作者： Nabeel Kadim Abid Al-Sahib Israa Rafie Shareef Mechatronics Engineering Dept. Al-Khawarizmi College of Engineering University of Baghdad Baghdad 10001 Iraq

This work presents a Fuzzy Logic Controller （FLC） assigned to control a robotic arm motion while avoiding the obstacles that may face the robotic arm in its movement from the initial point to the final point in an optimized manner, in addition to avoid the singularity phenomenon, and without any exceeding of the physical constraints of the robot arm. A real platform （5 DOF ＂Degree Of Freedom＂ Lab Volt 5150 robotic Arm） is used to carry this work practically, in addition to providing it by a vision sensor, where a new approach is proposed to inspect the robot work environment using a designed integrated MATLAB program having the ability to recognize the changeable locations of each of the robotic arm＇s end-effector, the goal, and the multi existed obstacles through a recorded film taken by a webcam, then these information will be treated using the FLC where its outputs represent the values that must be delivered to the robot to adopt them in its next steps till reaching to the goal in collision-free movements. The experimental results showed that the developed robotic ann travels successfully from Start to Goal where a high percentage of accuracy in arriving to Goal was achieved, and without colliding with any obstacle ensuring the harmonization between the theoretical part and the experimental part in achieving the best results of controlling the robotic arm＇s motion.

关键词： robotic manipulator fuzzy logic controller obstacles avoidance.

FUZZY COORDINATION AND FORCE/POSITION CONTROL OF robotic manipulator

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Transactions of Nanjing University of Aeronautics and Astronautics 1999年第1期16卷 55-60页

作者：乔兵尉忠信朱剑英南京航空航天大学机电工程学院

It is crucial for implementing force/position control of robotic manipulator under the constraint of unknown environment to determine the force control and the position control directions. This paper presents an on line algorithm to real timely estimate the tangent and the normal vectors of the constraint surface based on the measured contact force under the consideration of frictional force. A fuzzy synthesis policy is proposed to coordinate the conflict between the compliant force control and the stiff position control. An experimental study on an AdeptThree, a SCARA type robotic manipulator, is conducted. The experimental results show that the policy presented in the paper is effective.

关键词： robotic manipulator force/position control constraints coordination fuzzy synthesis

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FUZZY MODELLING OF INVERSE DYNAMICS FOR A robotic manipulator BASED ON GENETIC ALGORITHM

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FUZZY MODELLING OF INVERSE DYNAMICS FOR A ROBOTIC MANIPULATO...

第四届海内外青年设计与制造科学会议

作者： Qiao Bing You Youpeng Zhang Xiaofeng Zhu Jianying Mechatronic Engineering Institute Nanjing University of Aeronautics and Astronautics Nanjing 210016, P. R. China

Genetic Algorithms (GAs) have been successfully applied to a wide range of unstructured and nonlinear optimization *** this paper a scheme of fuzzy modelling to establish the inverse dynamic model for a robot manipulator in its joint space is *** designed fuzzy inverse model can be incorporated into the joint control loop of the robot manipulator to search a feedforward torque according to the input *** genetic algorithm is applied to optimize the membership functions and the structure of the rule base for the fuzzy inverse model of the robotic *** based on a three-linked robotic manipulator is conducted and its results are presented

关键词： Genetic algorithm robotic manipulator Fuzzy modelling

Adaptive Non-singular Terminal Sliding Mode Fault-tolerant Control of robotic manipulator Based on Cross-Coupling Technology

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Adaptive Non-singular Terminal Sliding Mode Fault-tolerant C...

第十八届全国非线性振动暨第十五届全国非线性动力学和运动稳定性学术会议（NVND2021）

作者： Zhu Dachang Du Baolin Pan Yihua Cui Aodong School of Mechanical and Electrical Engineering Guangzhou University

To achieve accurate contour tracking of robot with dynamic uncertainties, coupling and actuator faults, an adaptive non-singular terminal sliding mode control(ANTSMC) based on cross-coupling technology is proposed. First, a terminal sliding mode manifold is used to derive the non-singular terminal sliding mode control(NTSMC) which enable the elimination of the singularity completely in traditional terminal sliding mode control(TSMC). Second, an adaptive tuning approach is selected for avoid the demand of the bound of system uncertainty, and the stability of the proposed control strategy is demonstrated by the sense of the finite-time stability theory. Furthermore, the decrease of contour error and the sudden change of the non-smooth trajectory is significant problem for accurate contour tracking application. A new cross-coupled ANTSMC law is proposed, and it is a strategy combining the NTSMC law for trajectory tracking at joint level and the PD control law for contour tracking at the end-effector level of robot, and an unified framework of cross-coupling contour compensation and reference position pre-compensation is designed by combining cross-coupling control technology with parabolic transition trajectory planning technology. Finally, numerical simulation and experimental results are shown to prove the effectiveness of the proposed control strategy.

关键词： robotic manipulator Finite time stability Contour error compensation Adaptive non-singular terminal sliding mode control(ANTSMC)

Fault Detection and Estimation for LTI Systems and its Application to a Lab robotic manipulator

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Fault Detection and Estimation for LTI Systems and its Appli...

2009中国控制与决策会议

作者： Michel Verhaegen Delft Center for Systems and Control Delft University of TechnologyDelft 2628 CDThe Netherlands

＜正＞This paper addresses the fault detection and fault estimation issues for linear discrete time invariant（LTI） systems subject to unknown *** underlying problems are investigated based on the generalized KYP lemma in the finite frequency *** this paper,a new LMIs solution to the fault detection issue is proposed,which is slightly different from the available result and the set of LMIs are also simpler.A fault estimation method which focus on estimating the low frequency faults is also *** fault detection and fault estimation techniques are further applied to a lab robotic manipulator.

关键词： Fault Detection Fault Estimation GKYP lemma Finite frequency robotic manipulator

Trajectory Tracking Control of robotic manipulator via Variable Gain Iterative Learning Algorithm

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Trajectory Tracking Control of Robotic Manipulator via Varia...

第37届中国控制会议

作者： Haonan Zheng Yanhong Liu Chao Li Guokang Wang School of Electrical Engineering Zhengzhou University

For the trajectory tracking of a class of strong coupling and uncertain manipulator system,a PD-type iterative learning control law with exponential variable gain is put *** is shown that under the input state disturbance and the output state disturbance,the proposed iterative learning control law can make the tracking errors *** on the two-degree manipulators show the effectiveness of the algorithm.

关键词： initial state error iterative learning control variable index gain robotic manipulator tracking control