A comparison of control techniques for a robotic manipulator with base disturbances

Mathew Walter Dunnigan, Cyprian Wronka

Research output: Contribution to journalArticle

Abstract

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.
Original languageEnglish
Pages (from-to)999-1012
Number of pages14
JournalIET Control Theory and Applications
Volume5
Issue number8
DOIs
Publication statusPublished - May 2011

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Manipulators
Robotics
Controllers
Trajectories
Degrees of freedom (mechanics)
Dynamic models
Gravitation
Torque

Cite this

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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 journalArticle

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