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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MDPI AG
2013-04-01
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Series: | Sensors |
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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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language | English |
last_indexed | 2024-04-14T03:30:51Z |
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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 |
work_keys_str_mv | AT marcohterra experimentalinvestigationonadaptiverobustcontrollerdesignsappliedtoconstrainedmanipulators AT adrianoagsiqueira experimentalinvestigationonadaptiverobustcontrollerdesignsappliedtoconstrainedmanipulators AT samuellnogueira experimentalinvestigationonadaptiverobustcontrollerdesignsappliedtoconstrainedmanipulators AT tatianafpatpazelli experimentalinvestigationonadaptiverobustcontrollerdesignsappliedtoconstrainedmanipulators |