Mimo and Siso Self-Tuning Hybrid Position/Force Control of Robotic Manipulators
Yükleniyor...
Tarih
1994
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
John Wiley & Sons Inc
Erişim Hakkı
info:eu-repo/semantics/openAccess
Özet
The paper presents a new approach for the hybrid position/force control of a manipulator by using self- tuning regulators (STR) For this purpose, the discrete-time stochastic multi-input multi-output (MIMO) and single- input single-output (SISO) models are introduced. The MIMO model whose output vector has the positions and velocities of the gripper expressed in the world (xyz) coordinate system as the components. The SISO model outputs are the hybrid errors consisting of the derivatives of the position and force errors at the joints. The inputs of both models are the joint torques. The unknown parameters of those models can be calculated recursively on-line by the square-root estimation algorithm (SQR). An adaptive MIMO and SISO self-tuning type controllers are then designed by minimizing the expected value of a quadratic criterion. This performance index penalizes the deviations of the actual position and force path of the gripper from the desired values expressed in the Cartesian coordinate system. An integrating effect is also included in the performance index to remove the steady-state errors. Digital simulation results using the parameter estimation and the control algorithms are presented and the performances of those two controllers are discussed.
Açıklama
Anahtar Kelimeler
Position/force hybrid control, robotic manipulator, self-tuning regulators, multi-input multi-output control, single-input single-output control, estimation
Kaynak
Journal of Robotic Systems
WoS Q Değeri
N/A
Scopus Q Değeri
N/A
Cilt
13
Sayı
1
Künye
Özsoy, C., Şişman, T., (1994). Mimo and Siso Self-Tuning Hybrid Position/Force Control of Robotic Manipulators. Journal of Robotic Systems, 13(1), 163-169. Doi: 10.1002/(SICI)1097-4563(199601)13:1<41
