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)

Producción científica: Contribución a una revista › Artículo › revisión exhaustiva

8 Citas (Scopus)

Resumen

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.

Idioma original	Inglés
Número de artículo	8610222
Páginas (desde-hasta)	13989-13998
Número de páginas	10
Publicación	IEEE Access
Volumen	7
DOI	https://doi.org/10.1109/ACCESS.2019.2892414
Estado	Publicada - 2019

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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 - Ramírez-Neria, Mario

AU - Ochoa-Ortega, Gilberto

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AU - Lozada-Castillo, Norma

AU - Trujano-Cabrera, Miguel Angel

AU - Campos-López, Juan Pablo

PY - 2019

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N2 - 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.

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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