Presently, design, exact modelling, critical analysis and precise control and effective and efficient operation of flexible robotic arm of light weight are hot topics in both the robotics and control research communities. This simplification, however, leads to intolerable problems in the execution of operational tasks. For example, bad accuracy of placing high load objects from one place to another. Therefore, modeling and control of high load rigid robot arm can play a big role in many industry. The purpose of this research is modelling and control of the position of single DOF rigid Scorbot-ER VII robot arm by Feedforward and Feedback controller with MATLAB/Simulink working environment. The scope of this research depends only on the one degree of freedom horizontal robot arm. Moreover, the results obtained from the designed controller are compared with each other for the dynamic response of the closed loop by considering disturbance torque and backlash in rigid single degree of freedom robot arm such as proportional integral and derivative controller, proportional integral derivative controller with feedforward controller, proportional integral controller with feedforward controller, fuzzy logic controller, and fuzzy logic controller with feedforward controller. The reference signals which are given to the plant is step and square input signal to observe their performance. Abaques/CAE is used to investigate the deformation of robot arm due to distributed load. Trajectory tracking of distorted input signal and time response parameters for step input signal including rise time, percent overshoot, settling time and steady state error validate the theoretical analyses about the proposed method. Finally, the time response parameters based on step input signal and desired trajectory tracking can be observed. Depending on the results of all controllers, combination of Fuzzy Logic Controller with Feed Forward controller removed oscillatory behavior in transient period and very high overshoot up to 33% which causes the damage in the system performance with achieving the given trajectory smoothly.
MODELING AND CONTROLING OF RIGID ROBOT ARM BASED ON FEEDFORWARD WITH FEEDBACK CONTROLING SCHEME
2019-10-15
doi:10.20372/nadre/4119
Hochschulschrift
Elektronische Ressource
Englisch
DDC: | 629 |
SYSTEM FOR CONTROLING VEHICLE AND METHOD OF CONTROLING VEHICLE
Europäisches Patentamt | 2021
SYSTEM FOR CONTROLING VEHICLE AND METHOD OF CONTROLING VEHICLE
Europäisches Patentamt | 2017
|Europäisches Patentamt | 2019
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