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Research Papers

Position Domain Synchronization Control of Multi-Degrees of Freedom Robotic Manipulator

[+] Author and Article Information
P. R. Ouyang

Associate Professor
Mem. ASME
Department of Aerospace Engineering,
Ryerson University,
350 Victoria Street,
Toronto, ON, M5B 2K3, Canada
e-mail: pouyang@ryerson.ca

V. Pano

Department of Aerospace Engineering,
Ryerson University,
350 Victoria Street,
Toronto, ON, M5B 2K3, Canada
e-mail: vpano@ryerson.ca

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received April 19, 2013; final manuscript received October 16, 2013; published online December 16, 2013. Assoc. Editor: Alexander Leonessa.

J. Dyn. Sys., Meas., Control 136(2), 021017 (Dec 16, 2013) (13 pages) Paper No: DS-13-1161; doi: 10.1115/1.4025755 History: Received April 19, 2013; Revised October 16, 2013

In this paper, a new position domain synchronization control (PDSC) law is proposed for contour control of multi-DOF nonlinear robotic manipulators with the main goal of improving contour tracking performance. The robotic manipulator is treated as a master-slave motion system, where the position of the master motion is used as an independent reference via equidistant sampling, and the slave motions are described as functions of the master motion. To build this relationship, the dynamics of the original system is transformed from time domain to position domain. The new control introduces synchronization and coupled errors in the control law to further coordinate the master and slave motions. Stability analysis is performed based on the Lyapunov method for the proposed PDSC, and simulations are conducted to verify the effectiveness of the developed control system.

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Figures

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Fig. 1

Scheme of 3-DOF serial robotic manipulator

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Fig. 2

Tracking error for zigzag contour

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Fig. 3

Synchronization error for zigzag motion

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Fig. 4

Zigzag motion contour tracking performance

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Fig. 5

Tracking error for diamond contour

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Fig. 6

Synchronization error for diamond contour

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Fig. 7

Contour tracking error for diamond contour

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Fig. 8

Tracking error for circular motion

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Fig. 9

Synchronization error for circular contour

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Fig. 10

Circular motion contour tracking performance

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Fig. 11

Tracking error for epitrochoidal contour

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Fig. 12

Epitrochoidal contour synchronization error

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Fig. 13

Epitrochoidal motion contour tracking performance

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Fig. 14

Contour performance for epitrochoidal contour (error amplified by a factor of 60)

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