کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

صفحه اصلی / هشتمین کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

A comparison study on the dynamic control of OpenMANIPULATOR-X by PD with gravity compensation tuned by oscillation damping based on the phase-trajectory-length concept

نویسندگان :

Amirhossein Dadbin¹ Ahmad Kalhor² Mehdi Tale Masouleh³

1- دانشگاه تهران 2- دانشگاه تهران 3- دانشگاه تهران

کلمات کلیدی :

Dynamics, kinematics, OpenMANIPULATOR-X, oscillation damping, PD with gravity compensation

چکیده :

In this paper, the dynamic control of a 4-DOF serial manipulator, the so-called OpenMANIPULATOR-x, is investigated by means of different performance indices, including, among others, oscillation damping. To do so, the kinematics and dynamics equations are obtained from a systematic approach where both models are verified by simulating the understudy robot in Simscape. The stability of the applied controller, which is a PD with gravity compensation controller, is investigated, and it reveals that it is asymptotically stable. Thereafter, the coefficient of the latter PD controller is optimized concerning different performance indices, namely, IAE, ISE, ITAE, ITSE and, a new criterion called oscillation damping, which is based on the optimization of a cost function defined on the phase trajectory length concept. The obtained results revealed that the step response of the oscillatihtbpon damping controller is without overshoot, and it is slower than ones tuned by other performance indices.