Experimental Investigation on Adaptive Robust Controller Designs Applied to Constrained Manipulators

Sensors

Samuel L. Nogueira²  Tatiana F. P. A. T. Pazelli¹  Adriano A. G. Siqueira² 

[1] Department of Electrical Engineering, Federal University of São Carlos,Washington Luís, km 235-SP-310, São Carlos, Brazil; E-Mail:;Department of Mechanical Engineering, University of São Paulo, 400 Trabalhador São-Carlense av., 13566-590, São Carlos, Brazil; E-Mail:

关键词: constrained manipulators;    ℋ_∞ control;    neural networks;    fuzzy systems;    variable structure control;    load cell;    multi-axis force sensor;   

DOI  :  10.3390/s130405181

来源: mdpi

【 摘 要 】

In this paper, two interlaced studies are presented. The first is directed to the design and construction of a dynamic 3D force/moment sensor. The device is applied to provide a feedback signal of forces and moments exerted by the robotic end-effector. This development has become an alternative solution to the existing multi-axis load cell based on static force and moment sensors. The second one shows an experimental investigation on the performance of four different adaptive nonlinear ℋ_∞ control methods applied to a constrained manipulator subject to uncertainties in the model and external disturbances. Coordinated position and force control is evaluated. Adaptive procedures are based on neural networks and fuzzy systems applied in two different modeling strategies. The first modeling strategy requires a well-known nominal model for the robot, so that the intelligent systems are applied only to estimate the effects of uncertainties, unmodeled dynamics and external disturbances. The second strategy considers that the robot model is completely unknown and, therefore, intelligent systems are used to estimate these dynamics. A comparative study is conducted based on experimental implementations performed with an actual planar manipulator and with the dynamic force sensor developed for this purpose.

【 授权许可】

CC BY   
© 2013 by the authors; licensee MDPI, Basel, Switzerland.