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On Orbital Stabilization for Industrial Manipulators: Case Study in Evaluating Performances of Modified PD plus and Inverse Dynamics Controllers
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
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2017 (English)In: IEEE Transactions on Control Systems Technology, ISSN 1063-6536, E-ISSN 1558-0865, Vol. 25, no 1, 101-117 p.Article in journal (Refereed) Published
Abstract [en]

Orbital stabilization is one of the available alternatives to the classical asymptotic stabilization, known as the reference tracking control, which is typically considered and implemented for controlling motions of industrial robot manipulators. Since asymptotic orbital stability means convergence of solutions of a closed-loop system to an orbit of a reference trajectory, instead of tracking it as a function of time, new feedback designs can potentially improve performance with respect to several key criteria for industrial manipulators such as absolute path accuracy for tool's motions and robustness to uncertainties in the model. The main outcomes of this paper are a new class of controllers that achieve asymptotic orbital stabilization of motions and a novel analytical method for analysis and redesign of system's dynamics using an excessive set of easy-to-compute transverse coordinates. The contributions have been validated in a series of experimental studies performed on a standard industrial robot ABB IRB 140 with the IRC5-system extended with an open control interface. The outcomes of the tests show that the proposed redesign allows achieving significantly reduced deviations of the actual trajectories from the desired ones at different ranges of speeds and for several different paths, often outperforming the state-of-the-art commercial implementations. A comprehensive discussion of one of such experiments is given.

Place, publisher, year, edition, pages
2017. Vol. 25, no 1, 101-117 p.
Keyword [en]
Industrial robotic manipulators, model-based feedback design, motion and trajectory planning, bital stabilization, path accuracy, transverse dynamics
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:umu:diva-132039DOI: 10.1109/TCST.2016.2554520ISI: 000391498700010OAI: oai:DiVA.org:umu-132039DiVA: diva2:1085128
Available from: 2017-03-28 Created: 2017-03-28 Last updated: 2017-03-28Bibliographically approved

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Freidovich, Leonid B.
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CiteExportLink to record
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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
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Output format
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  • asciidoc
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