Control of robot manipulators using a dual-model-based structure

Q. Li; W. J. Zhang; S. K. Tso

doi:10.1115/DETC98/MECH-5858

Control of robot manipulators using a dual-model-based structure

Q. Li
, W. J. Zhang
, S. K. Tso

Department of Mechanical Engineering

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

Abstract

This paper proposes a dual-model-based structure for uncertainty attenuation in the trajectory-tracking control of robot manipulators. A conventional model-based control algorithm with an estimated robot dynamic model employed is first placed in the overall structure as a basic control component. To further attenuate the unwanted effects caused by modelling uncertainties, another model-based structure, appended in the outer-loop of the basic control structure as a compensator, is developed based on the concept of the internal model control. Combination of these two model-based structures results in a novel dual-model-based controller for robot manipulators. Sensitivity analyses show that the effects due to both modelling errors and external disturbances can be significantly reduced by applying this dual-model-based control structure without relying on a high-gain control solution. Effectiveness of this control design is successfully demonstrated by simulation studies on a 2 degree-of-freedom robot.

Original language	English
Title of host publication	Proceedings of the ASME 1998 Design Engineering Technical Conferences
Publisher	American Society of Mechanical Engineers
Volume	1B
ISBN (Print)	978-0-7918-8031-9
DOIs	https://doi.org/10.1115/DETC98/MECH-5858
Publication status	Published - Sept 1998
Event	ASME 1998 Design Engineering Technical Conferences, DETC 1998 - Atlanta, United States Duration: 13 Sept 1998 → 16 Sept 1998

Conference

Conference	ASME 1998 Design Engineering Technical Conferences, DETC 1998
Place	United States
City	Atlanta
Period	13/09/98 → 16/09/98

Bibliographical note

Full text of this publication does not contain sufficient affiliation information. With consent from the author(s) concerned, the Research Unit(s) information for this record is based on the existing academic department affiliation of the author(s).

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@inproceedings{1f3ca5902e9646f784b946ba96eee70f,

title = "Control of robot manipulators using a dual-model-based structure",

abstract = "This paper proposes a dual-model-based structure for uncertainty attenuation in the trajectory-tracking control of robot manipulators. A conventional model-based control algorithm with an estimated robot dynamic model employed is first placed in the overall structure as a basic control component. To further attenuate the unwanted effects caused by modelling uncertainties, another model-based structure, appended in the outer-loop of the basic control structure as a compensator, is developed based on the concept of the internal model control. Combination of these two model-based structures results in a novel dual-model-based controller for robot manipulators. Sensitivity analyses show that the effects due to both modelling errors and external disturbances can be significantly reduced by applying this dual-model-based control structure without relying on a high-gain control solution. Effectiveness of this control design is successfully demonstrated by simulation studies on a 2 degree-of-freedom robot.",

author = "Q. Li and Zhang, \{W. J.\} and Tso, \{S. K.\}",

note = "Full text of this publication does not contain sufficient affiliation information. With consent from the author(s) concerned, the Research Unit(s) information for this record is based on the existing academic department affiliation of the author(s). ; ASME 1998 Design Engineering Technical Conferences, DETC 1998 ; Conference date: 13-09-1998 Through 16-09-1998",

year = "1998",

month = sep,

doi = "10.1115/DETC98/MECH-5858",

language = "English",

isbn = "978-0-7918-8031-9",

volume = "1B",

booktitle = "Proceedings of the ASME 1998 Design Engineering Technical Conferences",

publisher = "American Society of Mechanical Engineers",

address = "United States",

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Li, Q, Zhang, WJ & Tso, SK 1998, Control of robot manipulators using a dual-model-based structure. in Proceedings of the ASME 1998 Design Engineering Technical Conferences. vol. 1B, V01BT01A001, American Society of Mechanical Engineers, ASME 1998 Design Engineering Technical Conferences, DETC 1998, Atlanta, United States, 13/09/98. https://doi.org/10.1115/DETC98/MECH-5858

Control of robot manipulators using a dual-model-based structure. / Li, Q.; Zhang, W. J.; Tso, S. K.
Proceedings of the ASME 1998 Design Engineering Technical Conferences. Vol. 1B American Society of Mechanical Engineers, 1998. V01BT01A001.

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

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AU - Li, Q.

AU - Zhang, W. J.

AU - Tso, S. K.

N1 - Full text of this publication does not contain sufficient affiliation information. With consent from the author(s) concerned, the Research Unit(s) information for this record is based on the existing academic department affiliation of the author(s).

PY - 1998/9

Y1 - 1998/9

N2 - This paper proposes a dual-model-based structure for uncertainty attenuation in the trajectory-tracking control of robot manipulators. A conventional model-based control algorithm with an estimated robot dynamic model employed is first placed in the overall structure as a basic control component. To further attenuate the unwanted effects caused by modelling uncertainties, another model-based structure, appended in the outer-loop of the basic control structure as a compensator, is developed based on the concept of the internal model control. Combination of these two model-based structures results in a novel dual-model-based controller for robot manipulators. Sensitivity analyses show that the effects due to both modelling errors and external disturbances can be significantly reduced by applying this dual-model-based control structure without relying on a high-gain control solution. Effectiveness of this control design is successfully demonstrated by simulation studies on a 2 degree-of-freedom robot.

AB - This paper proposes a dual-model-based structure for uncertainty attenuation in the trajectory-tracking control of robot manipulators. A conventional model-based control algorithm with an estimated robot dynamic model employed is first placed in the overall structure as a basic control component. To further attenuate the unwanted effects caused by modelling uncertainties, another model-based structure, appended in the outer-loop of the basic control structure as a compensator, is developed based on the concept of the internal model control. Combination of these two model-based structures results in a novel dual-model-based controller for robot manipulators. Sensitivity analyses show that the effects due to both modelling errors and external disturbances can be significantly reduced by applying this dual-model-based control structure without relying on a high-gain control solution. Effectiveness of this control design is successfully demonstrated by simulation studies on a 2 degree-of-freedom robot.

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U2 - 10.1115/DETC98/MECH-5858

DO - 10.1115/DETC98/MECH-5858

M3 - RGC 32 - Refereed conference paper (with host publication)

AN - SCOPUS:85101066851

SN - 978-0-7918-8031-9

VL - 1B

BT - Proceedings of the ASME 1998 Design Engineering Technical Conferences

PB - American Society of Mechanical Engineers

T2 - ASME 1998 Design Engineering Technical Conferences, DETC 1998

Y2 - 13 September 1998 through 16 September 1998

ER -

Control of robot manipulators using a dual-model-based structure

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