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Experimental Investigation on Adaptive Robust Controller Designs Applied to Constrained Manipulators
Department of Mechanical Engineering, University of São Paulo, 400 Trabalhador São-Carlense av.,13566-590, São Carlos, Brazil
Department of Electrical Engineering, Federal University of São Carlos,Washington Luís, km 235-SP-310, São Carlos, Brazil
Department of Electrical Engineering, University of São Paulo, 400 Trabalhador São-Carlense av.,13566-590, São Carlos, Brazil
* Author to whom correspondence should be addressed.
Received: 5 April 2013; in revised form: 16 April 2013 / Accepted: 16 April 2013 / Published: 18 April 2013
Abstract: In this paper, two interlaced studies are presented. The first is directed to the design and construction of a dynamic 3D force/moment sensor. The device is applied to provide a feedback signal of forces and moments exerted by the robotic end-effector. This development has become an alternative solution to the existing multi-axis load cell based on static force and moment sensors. The second one shows an experimental investigation on the performance of four different adaptive nonlinear H∞ control methods applied to a constrained manipulator subject to uncertainties in the model and external disturbances. Coordinated position and force control is evaluated. Adaptive procedures are based on neural networks and fuzzy systems applied in two different modeling strategies. The first modeling strategy requires a well-known nominal model for the robot, so that the intelligent systems are applied only to estimate the effects of uncertainties, unmodeled dynamics and external disturbances. The second strategy considers that the robot model is completely unknown and, therefore, intelligent systems are used to estimate these dynamics. A comparative study is conducted based on experimental implementations performed with an actual planar manipulator and with the dynamic force sensor developed for this purpose.
Keywords: constrained manipulators; H∞ control; neural networks; fuzzy systems; variable structure control; load cell; multi-axis force sensor
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Nogueira, S.L.; Pazelli, T.F.P.A.T.; Siqueira, A.A.G.; Terra, M.H. Experimental Investigation on Adaptive Robust Controller Designs Applied to Constrained Manipulators. Sensors 2013, 13, 5181-5204.
Nogueira SL, Pazelli TFPAT, Siqueira AAG, Terra MH. Experimental Investigation on Adaptive Robust Controller Designs Applied to Constrained Manipulators. Sensors. 2013; 13(4):5181-5204.
Nogueira, Samuel L.; Pazelli, Tatiana F.P.A.T.; Siqueira, Adriano A.G.; Terra, Marco H. 2013. "Experimental Investigation on Adaptive Robust Controller Designs Applied to Constrained Manipulators." Sensors 13, no. 4: 5181-5204.