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Go to Editorial ManagerDynamic modeling of a robot manipulator is a central problem in an accurate robot control. In this paper; the dynamic equations of motion were derived by using Eular-Lagrange method for a six degree of freedom articulated robot manipulator based on the geometrical jacobian construction for each link and actuator. In addition, friction effects beside the end effector forces that act the environment are considered. A Matlab Simulink plant is developed to embrace the theoretical work and simulate the dynamic response for a designed nonlinear controller Proportional Derivative plus Gravity (PD+G), also a modified controller is applied to reject the disturbances and the internal friction effect where the settling errors were 3.57E-6, 2.09E-7, -3.63E-6, 8.84E-6, -5.39E-8 and -4.39E-5 (deg) for joints one to six respectively. The presented approach can be applicable to solve the dynamic problem of other n-link robot manipulators and achieve a suitable solution for tracking trajectories.
The robot manipulator output feedback problem points out to the controlled system in which the measurements of the joint position are available. In this study, all kinematic and dynamic parameters of robot manipulator are supposed unknown and the manipulator have to follow the desired trajectory. Therefore, the adaptive control problem for robot manipulators based on velocity estimation is investigated. According to the practical robot actuator power limitation, the bounded torque input is also considered in this study. The control algorithm is applied for 2-link manipulator to evaluate controller effectiveness. The design parameters that guaranteed the control performance of closed loop system are chosen by using optimization output constrained method. The proposed controller performances are provided by numerical simulations.
A new robust control algorithm is proposed for a class of nonlinear systems represented by a Single Link Manipulator (SLM) system. This algorithm is based on new techniques and methods in order to obtain a controller for the SLM system. First of all, the system is simplified using Variable Transformation Technique (VTT) in order to fit the analysis procedure. Then, a new idea of designing a model reference for the multiple states (n=4) system is presented to correspond the control design. Next, the Lyapunov Stability Analysis (LSA) is used to figure out a proper controller that can compensate the stability and the performance of the SLM system. After that, the Most Valuable Player Algorithm (MVPA) is applied to find the optimal parameters of the proposed controller to accomplish the optimum performance improvement. Finally, it can be concluded that the proposed control algorithm has improved the stability and the performance of the SLM system. In addition, the simulation results show the remarkable effects of the proposed nonlinear controller on the SLM system.
This work describes seam welding process using dissimilar ferrous metals by pulsed Nd:YAG. The main objective of this work is to achieve the best welding conditions. This imposes careful selection for the welding parameters and inevitably the well design of experiment (DOE). Sheets of ASTM A240/316L stainless steel to ASTM A570/Gr30 carbon steel all of 0.5 mm in thickness were lap welded. Different pulse energies or the related peak power, pulse duration, pulse repetition rate, and welding speeds were used. Moreover, different welding speeds were controlled by the employed manipulator. The laser beam spot diameter and the standoff distance were fixed. Experimental results are supported by the computational 2D and 3D models. In this article response surface methodology (RSM) was applied to design the experiment and obtain the best parameters through a set of mathematical models that define the weld characteristics. The results show that the best joint in term of joint strength is obtained at 31.9 J pulse energy (related to 5.5 kW peak power and 5.8 ms pulse duration), power density of 1.43×106 W/cm2, 1.5 Hz pulse repetition rate, and 0.5 mm/s welding speed.