Predictive functional control of a PUMA robot
نویسندگان
چکیده
This paper describes an efficient approach for nonlinear model predictive control, applied to a 6-DOF arm robot. The model is first linearized and decoupled by feedback, secondly a model predictive control scheme, implemented with an optimized dynamic model and running within small sampling period, is exhibited. Major simulation results performed using numerical values of an industrial PUMA 560 robot prove the effectiveness of the proposed approach. The nonlinear model-based predictive control and the widely used computed torque control are compared. Tracking performance and robustness with respect to external disturbances or errors in the model are enlightened.
منابع مشابه
Predictive Computed-torque Control of a Puma 560 Manipulator Robot
Abstract: This paper describes the integration of constrained predictive control and computed-torque control, and its application on a six degree-of-freedom PUMA 560 manipulator arm. The real-time implementation was based on SIMULINK, with the predictive controller and the computed-torque control law implemented in the C programming language. The constrained predictive controller solved a quadr...
متن کاملA Visual Servoing Architecture Using Predictive Control for a Puma560 Robot
A control system for a six degrees freedom Puma robot using a Visual Servoing architecture is presented. Two different predictive controllers, GPC and MPC, are used. A comparison between these two ones and the classical PI controller is performed. In this system the camera is placed on the robot’s end-effector and the goal is to control the robot pose to follow a target. A control law based on ...
متن کاملPath Following and Velocity Optimizing for an Omnidirectional Mobile Robot
In this paper, the path following controller of an omnidirectional mobile robot (OMR) has been extended in such a way that the forward velocity has been optimized and the actuator velocity constraints have been taken into account. Both have been attained through the proposed model predictive control (MPC) framework. The forward velocity has been included into the objective function, while the a...
متن کاملComparison of Sliding Mode Control and Decoupled Sliding Mode Control of Robot Puma 560
Abstract. There is presented a comparison of sliding mode control and decoupled sliding mode control algorithms for the PUMA 560 robot position control. The Lagrange-Euler mathematical model of the robot is used for calculation the control laws. The algorithms show good robustness to model inaccuracies. The decoupled sliding mode control shows better performance in positioning than the standard...
متن کاملExperimental study on direct adaptive control of a PUMA 560 industrial robot
The paper describes the implementation and experimental validation of a new direct adaptive control scheme on a PUMA 560 industrial robot. The testbed facility consists of a Unimation PUMA 560 six-jointed robot and controller, and a DEC MicroVAX II computer which hosts the RCCL (Robot Control "C" Library) software. The control algorithm is implemented on the MicroVAX which acts as a digital con...
متن کامل