Dynamic Analysis and Control of Redundant Manipulator for Agricultural Applications in a Virtual Environment
In the development of automated manipulators for fruit and vegetable picking technologies, the challenge of ensuring an efficient, stable, and loss-free picking process has been a complex problem. In such an environment, manipulators require the most efficient and robust control for effective operat...
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| Format: | Article |
| Language: | English |
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Ram Arti Publishers
2023-08-01
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| Series: | International Journal of Mathematical, Engineering and Management Sciences |
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| Online Access: | https://www.ijmems.in/article_detail.php?vid=8&issue_id=39&article_id=512 |
| _version_ | 1827917269208924160 |
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| author | A. Sridhar Reddy V. V. M. J. Satish Chembuly V. V. S. Kesava Rao |
| author_facet | A. Sridhar Reddy V. V. M. J. Satish Chembuly V. V. S. Kesava Rao |
| author_sort | A. Sridhar Reddy |
| collection | DOAJ |
| description | In the development of automated manipulators for fruit and vegetable picking technologies, the challenge of ensuring an efficient, stable, and loss-free picking process has been a complex problem. In such an environment, manipulators require the most efficient and robust control for effective operations. In this paper, a serial 9-DOF redundant manipulator (1P8R) is proposed with various controllers for trajectory tracking problems in agricultural applications. The dynamic analysis of redundant manipulator has been carried out using the Recursive Newton-Euler method. The joint configurations of the robot are determined using optimization techniques for specific Task Space Locations (TSLs) by avoiding obstacles. The process of generating joint trajectories has been implemented by considering the cubic polynomial function. For the task of controlling the robot trajectory tracking in the virtual agricultural environment, different combinations of Proportional (P), Integrative (I), Derivative (D), and Feed-Forward (FF) controllers are employed, and a comparative analysis has been performed among these controllers. To verify the performance of the manipulator, simulations are carried out in a virtual environment using Simulink software. Results show that the robot is able to reach specific TSL accurately with better control and it is found that the implementation of Feed-Forward and PID-CTC controllers has better performance in a complex environment. |
| first_indexed | 2024-03-13T03:26:25Z |
| format | Article |
| id | doaj.art-85e1b37e84594a12ba2e832fa80f62d7 |
| institution | Directory Open Access Journal |
| issn | 2455-7749 |
| language | English |
| last_indexed | 2024-03-13T03:26:25Z |
| publishDate | 2023-08-01 |
| publisher | Ram Arti Publishers |
| record_format | Article |
| series | International Journal of Mathematical, Engineering and Management Sciences |
| spelling | doaj.art-85e1b37e84594a12ba2e832fa80f62d72023-06-25T09:11:12ZengRam Arti PublishersInternational Journal of Mathematical, Engineering and Management Sciences2455-77492023-08-0184710737https://doi.org/10.33889/IJMEMS.2023.8.4.041Dynamic Analysis and Control of Redundant Manipulator for Agricultural Applications in a Virtual EnvironmentA. Sridhar Reddy0V. V. M. J. Satish Chembuly1V. V. S. Kesava Rao2Department of Mechanical Engineering, AU College of Engineering, Andhra University, Visakhapatnam, 530003, Andhra Pradesh, India.Department of Mechanical Engineering, Aditya College of Engineering and Technology, Surampalem, 533437, Andhra Pradesh, India.Department of Mechanical Engineering, AU College of Engineering, Andhra University, Visakhapatnam, 530003, Andhra Pradesh, India.In the development of automated manipulators for fruit and vegetable picking technologies, the challenge of ensuring an efficient, stable, and loss-free picking process has been a complex problem. In such an environment, manipulators require the most efficient and robust control for effective operations. In this paper, a serial 9-DOF redundant manipulator (1P8R) is proposed with various controllers for trajectory tracking problems in agricultural applications. The dynamic analysis of redundant manipulator has been carried out using the Recursive Newton-Euler method. The joint configurations of the robot are determined using optimization techniques for specific Task Space Locations (TSLs) by avoiding obstacles. The process of generating joint trajectories has been implemented by considering the cubic polynomial function. For the task of controlling the robot trajectory tracking in the virtual agricultural environment, different combinations of Proportional (P), Integrative (I), Derivative (D), and Feed-Forward (FF) controllers are employed, and a comparative analysis has been performed among these controllers. To verify the performance of the manipulator, simulations are carried out in a virtual environment using Simulink software. Results show that the robot is able to reach specific TSL accurately with better control and it is found that the implementation of Feed-Forward and PID-CTC controllers has better performance in a complex environment.https://www.ijmems.in/article_detail.php?vid=8&issue_id=39&article_id=512agricultural robotredundant manipulatordynamic analysispd/pid controllersmatlabsimulink |
| spellingShingle | A. Sridhar Reddy V. V. M. J. Satish Chembuly V. V. S. Kesava Rao Dynamic Analysis and Control of Redundant Manipulator for Agricultural Applications in a Virtual Environment International Journal of Mathematical, Engineering and Management Sciences agricultural robot redundant manipulator dynamic analysis pd/pid controllers matlab simulink |
| title | Dynamic Analysis and Control of Redundant Manipulator for Agricultural Applications in a Virtual Environment |
| title_full | Dynamic Analysis and Control of Redundant Manipulator for Agricultural Applications in a Virtual Environment |
| title_fullStr | Dynamic Analysis and Control of Redundant Manipulator for Agricultural Applications in a Virtual Environment |
| title_full_unstemmed | Dynamic Analysis and Control of Redundant Manipulator for Agricultural Applications in a Virtual Environment |
| title_short | Dynamic Analysis and Control of Redundant Manipulator for Agricultural Applications in a Virtual Environment |
| title_sort | dynamic analysis and control of redundant manipulator for agricultural applications in a virtual environment |
| topic | agricultural robot redundant manipulator dynamic analysis pd/pid controllers matlab simulink |
| url | https://www.ijmems.in/article_detail.php?vid=8&issue_id=39&article_id=512 |
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