Experimental Investigation on Adaptive Robust Controller Designs Applied to Constrained Manipulators

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 solu...

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Main Authors: Marco H. Terra, Adriano A. G. Siqueira, Samuel L. Nogueira, Tatiana F. P. A. T. Pazelli
Format: Article
Language:English
Published: MDPI AG 2013-04-01
Series:Sensors
Subjects:
Online Access:http://www.mdpi.com/1424-8220/13/4/5181
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author Marco H. Terra
Adriano A. G. Siqueira
Samuel L. Nogueira
Tatiana F. P. A. T. Pazelli
author_facet Marco H. Terra
Adriano A. G. Siqueira
Samuel L. Nogueira
Tatiana F. P. A. T. Pazelli
author_sort Marco H. Terra
collection DOAJ
description 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.
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spelling doaj.art-3e5c811ecaf34e2c823f555437e9c6402022-12-22T02:14:58ZengMDPI AGSensors1424-82202013-04-011345181520410.3390/s130405181Experimental Investigation on Adaptive Robust Controller Designs Applied to Constrained ManipulatorsMarco H. TerraAdriano A. G. SiqueiraSamuel L. NogueiraTatiana F. P. A. T. PazelliIn 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.http://www.mdpi.com/1424-8220/13/4/5181constrained manipulatorsH∞ controlneural networksfuzzy systemsvariable structure controlload cellmulti-axis force sensor
spellingShingle Marco H. Terra
Adriano A. G. Siqueira
Samuel L. Nogueira
Tatiana F. P. A. T. Pazelli
Experimental Investigation on Adaptive Robust Controller Designs Applied to Constrained Manipulators
Sensors
constrained manipulators
H∞ control
neural networks
fuzzy systems
variable structure control
load cell
multi-axis force sensor
title Experimental Investigation on Adaptive Robust Controller Designs Applied to Constrained Manipulators
title_full Experimental Investigation on Adaptive Robust Controller Designs Applied to Constrained Manipulators
title_fullStr Experimental Investigation on Adaptive Robust Controller Designs Applied to Constrained Manipulators
title_full_unstemmed Experimental Investigation on Adaptive Robust Controller Designs Applied to Constrained Manipulators
title_short Experimental Investigation on Adaptive Robust Controller Designs Applied to Constrained Manipulators
title_sort experimental investigation on adaptive robust controller designs applied to constrained manipulators
topic constrained manipulators
H∞ control
neural networks
fuzzy systems
variable structure control
load cell
multi-axis force sensor
url http://www.mdpi.com/1424-8220/13/4/5181
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AT adrianoagsiqueira experimentalinvestigationonadaptiverobustcontrollerdesignsappliedtoconstrainedmanipulators
AT samuellnogueira experimentalinvestigationonadaptiverobustcontrollerdesignsappliedtoconstrainedmanipulators
AT tatianafpatpazelli experimentalinvestigationonadaptiverobustcontrollerdesignsappliedtoconstrainedmanipulators