Abstract
influenced by the manipulator motion and therefore the base trajectory can be treated as a time-varying parameter in the dynamic equations. An adaptive controller compensating for the time-varying gravity vector is proposed based on
existing schemes. Various controllers are analysed by quantitative comparisons of trajectory tracking performance and high-frequency torque content. The presented derivation is applied to a Mitsubishi PA10-6CE robotic manipulator mounted on a 6-DOF (degrees of freedom) platform.
| Original language | English |
|---|---|
| Pages (from-to) | 999-1012 |
| Number of pages | 14 |
| Journal | IET Control Theory and Applications |
| Volume | 5 |
| Issue number | 8 |
| DOIs | |
| Publication status | Published - May 2011 |
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A comparison of control techniques for a robotic manipulator with base disturbances. / Dunnigan, Mathew Walter; Wronka, Cyprian.
In: IET Control Theory and Applications, Vol. 5, No. 8, 05.2011, p. 999-1012.Research output: Contribution to journal › Article
TY - JOUR
T1 - A comparison of control techniques for a robotic manipulator with base disturbances
AU - Dunnigan, Mathew Walter
AU - Wronka, Cyprian
PY - 2011/5
Y1 - 2011/5
N2 - A dynamic model of a robotic manipulator mounted on a moving base is derived using the Euler–Lagrange approach to design controllers that compensate for the base movement. It is assumed that the base inertia is large enough not to be influenced by the manipulator motion and therefore the base trajectory can be treated as a time-varying parameter in the dynamic equations. An adaptive controller compensating for the time-varying gravity vector is proposed based on existing schemes. Various controllers are analysed by quantitative comparisons of trajectory tracking performance and high-frequency torque content. The presented derivation is applied to a Mitsubishi PA10-6CE robotic manipulator mounted on a 6-DOF (degrees of freedom) platform.
AB - A dynamic model of a robotic manipulator mounted on a moving base is derived using the Euler–Lagrange approach to design controllers that compensate for the base movement. It is assumed that the base inertia is large enough not to be influenced by the manipulator motion and therefore the base trajectory can be treated as a time-varying parameter in the dynamic equations. An adaptive controller compensating for the time-varying gravity vector is proposed based on existing schemes. Various controllers are analysed by quantitative comparisons of trajectory tracking performance and high-frequency torque content. The presented derivation is applied to a Mitsubishi PA10-6CE robotic manipulator mounted on a 6-DOF (degrees of freedom) platform.
U2 - 10.1049/iet-cta.2010.0331
DO - 10.1049/iet-cta.2010.0331
M3 - Article
VL - 5
SP - 999
EP - 1012
JO - IET Control Theory and Applications
JF - IET Control Theory and Applications
SN - 1751-8644
IS - 8
ER -