Precision contouring control of five degree of freedom robot manipulators with uncertainty
In this article, we apply a result in equivalent errors to a contouring control problem of five degree of freedom robot manipulators. The proposed technique, fuzzy Proportional Integral Derivative (PID) with the robust extended Kalman filter, is employed to stabilize the dynamic of equivalent errors...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2016-12-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881416682703 |
| _version_ | 1818995871530876928 |
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| author | Thanana Nuchkrua Shyh-Leh Chen |
| author_facet | Thanana Nuchkrua Shyh-Leh Chen |
| author_sort | Thanana Nuchkrua |
| collection | DOAJ |
| description | In this article, we apply a result in equivalent errors to a contouring control problem of five degree of freedom robot manipulators. The proposed technique, fuzzy Proportional Integral Derivative (PID) with the robust extended Kalman filter, is employed to stabilize the dynamic of equivalent errors of robot manipulators. The shape of membership functions and rules of fuzzy PID controller are tuned following operating conditions that make the control performance to improve significantly. A desired path in terms of the position of the end-effector of the robot manipulators is described in generalized coordinates defined by the dynamic of equivalent. The simulation and experimental results demonstrate the excellent performance of the proposed technique. |
| first_indexed | 2024-12-20T21:20:44Z |
| format | Article |
| id | doaj.art-894c7965e4734f67b70606dd609e4406 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-20T21:20:44Z |
| publishDate | 2016-12-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-894c7965e4734f67b70606dd609e44062022-12-21T19:26:18ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142016-12-011410.1177/172988141668270310.1177_1729881416682703Precision contouring control of five degree of freedom robot manipulators with uncertaintyThanana NuchkruaShyh-Leh ChenIn this article, we apply a result in equivalent errors to a contouring control problem of five degree of freedom robot manipulators. The proposed technique, fuzzy Proportional Integral Derivative (PID) with the robust extended Kalman filter, is employed to stabilize the dynamic of equivalent errors of robot manipulators. The shape of membership functions and rules of fuzzy PID controller are tuned following operating conditions that make the control performance to improve significantly. A desired path in terms of the position of the end-effector of the robot manipulators is described in generalized coordinates defined by the dynamic of equivalent. The simulation and experimental results demonstrate the excellent performance of the proposed technique.https://doi.org/10.1177/1729881416682703 |
| spellingShingle | Thanana Nuchkrua Shyh-Leh Chen Precision contouring control of five degree of freedom robot manipulators with uncertainty International Journal of Advanced Robotic Systems |
| title | Precision contouring control of five degree of freedom robot manipulators with uncertainty |
| title_full | Precision contouring control of five degree of freedom robot manipulators with uncertainty |
| title_fullStr | Precision contouring control of five degree of freedom robot manipulators with uncertainty |
| title_full_unstemmed | Precision contouring control of five degree of freedom robot manipulators with uncertainty |
| title_short | Precision contouring control of five degree of freedom robot manipulators with uncertainty |
| title_sort | precision contouring control of five degree of freedom robot manipulators with uncertainty |
| url | https://doi.org/10.1177/1729881416682703 |
| work_keys_str_mv | AT thanananuchkrua precisioncontouringcontroloffivedegreeoffreedomrobotmanipulatorswithuncertainty AT shyhlehchen precisioncontouringcontroloffivedegreeoffreedomrobotmanipulatorswithuncertainty |