Motion Control of Three Links Robot Manipulator (Open Chain) with Spherical Wrist

Robot manipulator is a multi-input multi-output system with high complex nonlinear dynamics, requiring an advanced controller in order to track a specific trajectory. In this work, forward and inverse kinematics are presented based on Denavit Hartenberg notation to convert the end effector planned...

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Autores principales:	Hassan Mohammad Alwan, Zaid Hikmat Rashid
Formato:	article
Lenguaje:	EN
Publicado:	Al-Khwarizmi College of Engineering – University of Baghdad 2019
Materias:	Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
Acceso en línea:	https://doaj.org/article/1277a38c8b0d4744b141c31af55b8b94
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spelling	oai:doaj.org-article:1277a38c8b0d4744b141c31af55b8b942021-12-02T05:40:29ZMotion Control of Three Links Robot Manipulator (Open Chain) with Spherical Wrist10.22153/kej.2019.12.0011818-11712312-0789https://doaj.org/article/1277a38c8b0d4744b141c31af55b8b942019-05-01T00:00:00Zhttp://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/466https://doaj.org/toc/1818-1171https://doaj.org/toc/2312-0789 Robot manipulator is a multi-input multi-output system with high complex nonlinear dynamics, requiring an advanced controller in order to track a specific trajectory. In this work, forward and inverse kinematics are presented based on Denavit Hartenberg notation to convert the end effector planned path from cartesian space to joint space and vice versa where a cubic spline interpolation is used for trajectory segments to ensure the continuity in velocity and acceleration. Also, the derived mathematical dynamic model is based on Eular Lagrange energy method to contain the effect of friction and disturbance torques beside the inertia and Coriolis effect. Two types of controller are applied ; the nonlinear computed torque control (CTC) and the simpler form of its Proportional Derivative plus Gravity (PD+G) where they are designed to reduce the tracking trajectory errors which tend to zero where the used Kp and Kv gains are 900,60. Also, the RMS errors for tracking a step input of CTC were equal to [2.5E-14, 4.4E-14, 5.0E-14, -4.7E-14, -3.9E-14, -4.6E-14] (deg) and of PD+G were equal to [-1.77E-5, -1.22E-6, -4.28E-6, -8.97E-6, -1.32E-5, 1.05E-5] (deg) for joints one to six, respectively. The results show that CTC is more accurate but requires additional acceleration input and is more computationally extensive and PD+G controller is performed with acceptable tracking errors in manipulator position control applications. Hassan Mohammad AlwanZaid Hikmat RashidAl-Khwarizmi College of Engineering – University of BaghdadarticleChemical engineeringTP155-156Engineering (General). Civil engineering (General)TA1-2040ENAl-Khawarizmi Engineering Journal, Vol 15, Iss 2 (2019)
institution	DOAJ
collection	DOAJ
language	EN
topic	Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
spellingShingle	Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040 Hassan Mohammad Alwan Zaid Hikmat Rashid Motion Control of Three Links Robot Manipulator (Open Chain) with Spherical Wrist
description	Robot manipulator is a multi-input multi-output system with high complex nonlinear dynamics, requiring an advanced controller in order to track a specific trajectory. In this work, forward and inverse kinematics are presented based on Denavit Hartenberg notation to convert the end effector planned path from cartesian space to joint space and vice versa where a cubic spline interpolation is used for trajectory segments to ensure the continuity in velocity and acceleration. Also, the derived mathematical dynamic model is based on Eular Lagrange energy method to contain the effect of friction and disturbance torques beside the inertia and Coriolis effect. Two types of controller are applied ; the nonlinear computed torque control (CTC) and the simpler form of its Proportional Derivative plus Gravity (PD+G) where they are designed to reduce the tracking trajectory errors which tend to zero where the used Kp and Kv gains are 900,60. Also, the RMS errors for tracking a step input of CTC were equal to [2.5E-14, 4.4E-14, 5.0E-14, -4.7E-14, -3.9E-14, -4.6E-14] (deg) and of PD+G were equal to [-1.77E-5, -1.22E-6, -4.28E-6, -8.97E-6, -1.32E-5, 1.05E-5] (deg) for joints one to six, respectively. The results show that CTC is more accurate but requires additional acceleration input and is more computationally extensive and PD+G controller is performed with acceptable tracking errors in manipulator position control applications.
format	article
author	Hassan Mohammad Alwan Zaid Hikmat Rashid
author_facet	Hassan Mohammad Alwan Zaid Hikmat Rashid
author_sort	Hassan Mohammad Alwan
title	Motion Control of Three Links Robot Manipulator (Open Chain) with Spherical Wrist
title_short	Motion Control of Three Links Robot Manipulator (Open Chain) with Spherical Wrist
title_full	Motion Control of Three Links Robot Manipulator (Open Chain) with Spherical Wrist
title_fullStr	Motion Control of Three Links Robot Manipulator (Open Chain) with Spherical Wrist
title_full_unstemmed	Motion Control of Three Links Robot Manipulator (Open Chain) with Spherical Wrist
title_sort	motion control of three links robot manipulator (open chain) with spherical wrist
publisher	Al-Khwarizmi College of Engineering – University of Baghdad
publishDate	2019
url	https://doaj.org/article/1277a38c8b0d4744b141c31af55b8b94
work_keys_str_mv	AT hassanmohammadalwan motioncontrolofthreelinksrobotmanipulatoropenchainwithsphericalwrist AT zaidhikmatrashid motioncontrolofthreelinksrobotmanipulatoropenchainwithsphericalwrist
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Motion Control of Three Links Robot Manipulator (Open Chain) with Spherical Wrist

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