Investigation of adaptive control of robot manipulators with uncertain   features for trajectory tracking employing HIL simulation technique

SENTHIL KUMAR JAGATHEESA PERUMAL; SENTHIL KUMAR NATARAJAN

Makale detayları

Investigation of adaptive control of robot manipulators with uncertain features for trajectory tracking employing HIL simulation technique

Yazarlar:

SENTHIL KUMAR JAGATHEESA PERUMAL | SENTHIL KUMAR NATARAJAN

Yayıncı:

TUBITAK

Dergi:

Turkish Journal of Electrical Engineering and Computer Science 2017 Vol.25 Issue 3, pp.2513-2521

Belge Tipi:

Makale

Yayın Tarihi:

5/2017

Belge Dili:

Türkçe

Document ID (Org No.):

2000740943

Sıklık:

İki Aylık

eISSN:

1303-6203

pISSN:

1300-0632

Özet:

 

This paper investigates the hardware-in-the-loop (HIL)   simulation approach for dynamic control of a three-link rigid robot   manipulator that possesses ambiguous dynamics and kinematics. The task with   two adaptive control schemes has been realized with the objective of task   space trajectory-tracking of the end effector of the robotic manipulator.   Both proposed controllers are designed by considering the joint reference   velocities and the additional separation property. Based on these, the   controllers can be referred to as reference velocity (RV) and reference   velocity separation (RVS) adaptive controllers, respectively. The RV   adaptive controller can yield better performance with proper alterations,   without the cost of conventional gain choice. The HIL simulations are   carried out with the aid of a model of three-link rigid robotic manipulator,   developed using MATLAB/Simulink, and the RV and RVS adaptive controllers   were implemented with the C2000 real-time controller. From the HIL   simulation, the performance of the two adaptive controllers is analyzed for   task space tracking of the robotic manipulator.

Makale detayları

Investigation of adaptive control of robot manipulators with uncertain features for trajectory tracking employing HIL simulation technique

Yazarlar: SENTHIL KUMAR JAGATHEESA PERUMAL | SENTHIL KUMAR NATARAJAN

Yayıncı: TUBITAK

Dergi: Turkish Journal of Electrical Engineering and Computer Science 2017 Vol.25 Issue 3, pp.2513-2521

Belge Tipi: Makale

Yayın Tarihi: 5/2017

Belge Dili: Türkçe

Document ID (Org No.): 2000740943

Sıklık: İki Aylık

eISSN: 1303-6203

pISSN: 1300-0632

Sayı

Yazarlar:

SENTHIL KUMAR JAGATHEESA PERUMAL | SENTHIL KUMAR NATARAJAN

Yayıncı:

TUBITAK

Dergi:

Turkish Journal of Electrical Engineering and Computer Science 2017 Vol.25 Issue 3, pp.2513-2521

Belge Tipi:

Makale

Yayın Tarihi:

5/2017

Belge Dili:

Türkçe

Document ID (Org No.):

2000740943

Sıklık:

İki Aylık

eISSN:

1303-6203

pISSN:

1300-0632