Proportional Retarded Control of Robot Manipulators

Mario Ramírez-Neria; Gilberto Ochoa-Ortega; Alberto Luviano-Juárez; Norma Lozada-Castillo; Miguel Angel Trujano-Cabrera; Juan Pablo Campos-López

doi:10.1109/ACCESS.2019.2892414

Proportional Retarded Control of Robot Manipulators

Mario Ramírez-Neria, Gilberto Ochoa-Ortega, Alberto Luviano-Juárez, Norma Lozada-Castillo, Miguel Angel Trujano-Cabrera, Juan Pablo Campos-López

Unidad Profesional Interdisciplinaria de Ingeniería y Tecnologías Avanzadas (UPIITA)

Research output: Contribution to journal › Article › peer-review

8 Scopus citations

Abstract

In the present contribution, a methodology to solve the tracking control problem of robot manipulators through the use of a Proportional Retarded plus Gravity (PR+G) compensation scheme is presented. The main advantage of the proposal is to avoid the necessity of velocity measurements or their estimation, which is commonly used in most control schemes, such as the proportional derivative-type controllers or the computed torque control. The design of the PR+G controller is addressed via σ-stability analysis and its performance is tested in an experimental platform that consists of 2 degrees of the freedom robot manipulator. The proposed controller is compared with a classic proportional derivative plus gravity compensation scheme. The results are analyzed from a frequency perspective and measured by a quadratic error index.

Original language	English
Article number	8610222
Pages (from-to)	13989-13998
Number of pages	10
Journal	IEEE Access
Volume	7
DOIs	https://doi.org/10.1109/ACCESS.2019.2892414
State	Published - 2019

Keywords

Manipulator robot
time-delay controller
trajectory tracking

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10.1109/ACCESS.2019.2892414

Cite this

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title = "Proportional Retarded Control of Robot Manipulators",

abstract = "In the present contribution, a methodology to solve the tracking control problem of robot manipulators through the use of a Proportional Retarded plus Gravity (PR+G) compensation scheme is presented. The main advantage of the proposal is to avoid the necessity of velocity measurements or their estimation, which is commonly used in most control schemes, such as the proportional derivative-type controllers or the computed torque control. The design of the PR+G controller is addressed via σ-stability analysis and its performance is tested in an experimental platform that consists of 2 degrees of the freedom robot manipulator. The proposed controller is compared with a classic proportional derivative plus gravity compensation scheme. The results are analyzed from a frequency perspective and measured by a quadratic error index.",

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AU - Ochoa-Ortega, Gilberto

AU - Luviano-Juárez, Alberto

AU - Lozada-Castillo, Norma

AU - Trujano-Cabrera, Miguel Angel

AU - Campos-López, Juan Pablo

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AB - In the present contribution, a methodology to solve the tracking control problem of robot manipulators through the use of a Proportional Retarded plus Gravity (PR+G) compensation scheme is presented. The main advantage of the proposal is to avoid the necessity of velocity measurements or their estimation, which is commonly used in most control schemes, such as the proportional derivative-type controllers or the computed torque control. The design of the PR+G controller is addressed via σ-stability analysis and its performance is tested in an experimental platform that consists of 2 degrees of the freedom robot manipulator. The proposed controller is compared with a classic proportional derivative plus gravity compensation scheme. The results are analyzed from a frequency perspective and measured by a quadratic error index.

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Proportional Retarded Control of Robot Manipulators

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Keywords

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