Impedance Controller Tuned by Particle Swarm Optimization for Robotic Arms (original) (raw)
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Robust Impedance Control-based Lyapunov-Hamiltonian Approach for Constrained Robots
International Journal of Advanced Robotic Systems, 2015
A new design of a robust impedance controller for constrained robotic manipulators is presented. The main objective is to stabilize asymptotically, in the task space, the robotic manipulator's end effectors into a desired position, via a desired contact force under model uncertainties and measurement noise. In this work, the proposed approach is enough straightforward for application without force and position control separation. Robust asymptotic stability in the approach is proved using a Hamiltonian-Lyapunov approach. Besides this, a state/parameter observer and an acceleration estimator are proposed to handle the problems of force estimation, disturbance rejection and acceleration measurement. To ensure high performance, a Particle Swarm Optimization (PSO) algorithm is used finally as an efficient and fast method for the offline fine-tuning of the controller's parameters. In designing the PSO method, the Mean of Root Squared Error (MRSE) is considered as a cost function in the Cartesian space. Finally, the example of the ABB-IRB 140 industrial robot with 6DOFs is used to validate the performances of the proposed approach.
A Lyapunov-based design tool of impedance controllers for robot manipulators
Kybernetika, 2012
This paper presents a design tool of impedance controllers for robot manipulators, based on the formulation of Lyapunov functions. The proposed control approach addresses two challenges: the regulation of the interaction forces, ensured by the impedance error converging to zero, while preserving a suitable path tracking despite constraints imposed by the environment. The asymptotic stability of an equilibrium point of the system, composed by full nonlinear robot dynamics and the impedance control, is demonstrated according to Lyapunov's direct method. The system's performance was tested through the real-time experimental implementation of an interaction task involving a two degree-of-freedom, direct-drive robot.
Optimal Impedance Control of A 2R Planar Robot Manipulator
Mas 17th International European Conference On Mathematics, Engineering, Natural & Medical Sciences, 2023
In this study, optimum impedance control of a 2R planar robot manipulator was performed. Industrial applications of robot manipulators are generally related to manipulation tasks such as painting that only require arm position control. However, there are other robotic tasks such as pushing, polishing, cleaning, and grinding that require interaction between the robot manipulator and a contact surface or environment. This fact makes it imperative to control the interaction between the robot and the environment. The impedance controller aims to control the dynamic relationship between the robot and the environment. The force applied by the robot to the environment depends on the position of the robot manipulator endpoint and the corresponding impedance. The impedance controller forces the robot to follow the desired reference or target impedance. Force task for force/position hybrid controller in literature; It is divided into two subspaces, the force control subspace, and the position control subspace. Then, two independent controllers are designed for each subspace. Conversely, the impedance controller proposed in this study does not attempt to explicitly control the force. Instead, it tries to control the relationship between the force and the position of the end effector in contact with the environment. It is also possible to plan a virtual trajectory such that a desired force profile is obtained when the environment has a rigid structure with known properties. The Bees Algorithm was used to optimize the proposed impedance controller and a numerical application was made to evaluate its performance. As a result of the optimization, the objective function was reduced by 57%. The obtained results are presented numerically and graphically. Thanks to the proposed impedance controller, the robot manipulator endpoint precisely follows both the desired force profile and the desired position.
Optimizing the Performance Evaluation of Robotic Arms with the Aid of Particle Swarm Optimization
International Journal of Advanced Computer Science and Applications, 2012
In this modern world, robotic evaluation plays a most important role. In secure distance, this leads the humans to execute insecure task. To acquire an effective result, the system which makes the human task easier should be taken care of and the holdup behind the system should be eradicated. Only static parameters are considered and such parameters are not enough to obtain optimized value in existing work. For consecutively attaining optimized value in our previous work, we focused on both static and dynamic parameters in the robotic arm gearbox model. Now, a genetic algorithm is utilized and the result obtained is greater than the existing work. On the other hand, to attain an effective result the genetic algorithm itself is not enough since it takes massive time for computation process and the result obtained in this computation is not as much closer to the true value. By eliminating all those aforementioned issues, a proper algorithm needs to be utilized in order to achieve an efficient result than the existing and our previous works. In this paper, we anticipated to suggest a Particle Swarm Optimization technique that reduce the computation time as well as make the output result as much closer to the true value (i.e.,) experimentally obtained value.
Fractional order impedance control by particle swarm optimization
2008 International Conference on Control, Automation and Systems, 2008
This paper suggests a methodology to realize fractional order impedance using feedback control of a motor, which can be called fractional impedance control. First, a novel discretization method of a fractional order integrator is proposed based on the coefficient fitting by particle swarm optimization. Based on this fractional order integrator, fractional order impedance control is realized using feedback control design. The characteristics of fractional impedance are analyzed by simulations, and the algorithm is implemented in a motor and the characteristics are made clear by experiments
Force-Impedance Control: a New Control Strategy of Robotic Manipulators
Recent Advances in Mechatronics, 1999
Abstract. A novel control strategy of robotic manipulators is presented in this paper: the force-impedance controller. This controller enables two kinds of behaviour: force limited impedance control and position limited force control. The type of behaviour only depends ...
A Dynamic-compensation Approach to Impedance Control of Robot Manipulators
Journal of Intelligent and Robotic Systems, 2011
This paper presents an impedance–control strategy with dynamic compensation for interaction control of robot manipulators. The proposed impedance controller has been developed considering that the equilibrium point of the closed-loop system, composed by the combination of the controller and the full nonlinear robot dynamics is, locally, asymptotically stable in agreement with Lyapunov’s direct method. The performance of the proposed controller is verified through simulation and experimental results obtained from the implementation of an interaction task involving a two degree-of-freedom, direct-drive robot.
2017 3rd International Conference on Electrical Information and Communication Technology (EICT), 2017
Optimum trajectory planning for robot arm plays an important role in the area of robotics. In this study, we propose the novel point-to-point motion and trajectory planning in obstructed dynamic environments for a three link robot arm using the enhanced particle swarm optimization (EPSO) algorithm. Trajectory planning for a three link robot arm finds an optimal path from a source node to a destination node in an obstructed environment. The developed EPSO has been widely used for constructing an optimal trajectory by utilizing its strong optimization capability. The proposed method significantly reduce the traveling time and space for generating the optimal path, does not exceed a given maximum torque without colliding obstacles in the robot work area. Quadrinomial and quintic polynomials are used to illustrate the parts which join the initial, intermediate and final points at joint-space. Direct kinematics is used in order to handle the configuration of robot arm. The results of sim...
Optimal Impedance Control of A 3 DOF Robot
International Paris Congress on Applied Sciences, 2023
This study aims to optimize the impedance control of a 3 degree-of-freedom (DOF) robot in various industrial applications, such as pushing, polishing, cleaning, and grinding. In these applications, the robot manipulator needs to interact with the environment to achieve the desired task, making it imperative to control the interaction between the robot and the environment. The impedance controller is an effective approach that regulates the dynamic relationship between the robot and the environment, which is crucial for performing these tasks accurately and efficiently. Unlike force/position hybrid controllers that have separate subspaces for force and position control, the proposed impedance controller aims to regulate the relationship between the force and the position of the end effector in contact with the environment. This approach ensures that the robot manipulator endpoint follows both the desired force profile and the desired position accurately. Additionally, the proposed method allows for planning a virtual trajectory to obtain a desired force profile when the environment has a rigid structure with known properties. To optimize the proposed impedance controller, the Bees Algorithm was used. The numerical application results demonstrate that the optimized impedance controller allows the robot manipulator endpoint to follow both the desired force profile and the desired position accurately, providing a practical solution for controlling the interaction between the robot manipulator and the environment in various industrial applications. The significance of this study lies in its potential to improve the performance of industrial robots in applications that require interaction with the environment. By using an optimized impedance controller, the robot can perform its task accurately and efficiently, reducing the risk of errors and improving productivity.
Design and Simulation of Robotic Arm PD Controller Based on PSO
University of Thi-Qar Journal for Engineering Sciences
This paper deals with design and simulation of Proportional plus Derivative (PD) controller for two links robotic arm. The PD controller was used to compute the required joint's torque for tracking the desired trajectory. The Particle Swarm Optimization (PSO) algorithm has been used in order to tune the gains of the proportional and derivative parts of PD controller. Simulation results show an efficient and robust behavior of the proposed controller. Two cases of simulation tests were carried out. The first was tracking a sine wave trajectory while the second was tracking the same trajectory with the presence of disturbance torque on the dynamic model of the robotic arm. The simulation results were compared with the presence of disturbance torque on the dynamic model of the robotic arm. The simulation results were compared with the results obtained by other researchers, for similar robotic arm properties and same trajectory. The proposed controller offers a simple method for trajectory tracking problem with a satisfactory efficiency. A Mean Square Error (MSE) criterion was used to study the efficiency of the proposed controller in tracking the desired trajectory.