COMPUTED TORQUE CONTROL FOR A SPATIAL DISORIENTATION TRAINER

Jelena Vidaković, Vladimir Kvrgić, Mihailo Lazarević, Pavle Stepanić

DOI Number
10.22190/FUME190919003V
First page
Last page

Abstract


A development of a robot control system is a highly complex task due to nonlinear dynamic coupling between the robot links. Advanced robot control strategies often entail difficulties in implementation, and prospective benefits of their application need to be analyzed using simulation techniques. Computed torque control (CTC) is a feedforward control method used for tracking of robot’s time-varying trajectories in the presence of varying loads. For the implementation of CTC, the inverse dynamics model of the robot manipulator has to be developed. In this paper, the addition of CTC compensator to the feedback controller is considered for a Spatial disorientation trainer (SDT). This pilot training system is modeled as a 4DoF robot manipulator with revolute joints. For the designed mechanical structure, chosen actuators and considered motion of the SDT, CTC-based control system performance is compared with the traditional speed PI controller using the realistic simulation model. The simulation results, which showed significant improvement in the trajectory tracking for the designed SDT, can be used for the control system design purpose as well as within mechanical design verification.

Keywords

Computed Torque Control, Robot, Motion Control, Spatial Disorientation

Full Text:

PDF

References


Slotine, J-JE., Weiping, L., 1988, Adaptive manipulator control: A case study, IEEE transactions on automatic control, 33(11), pp. 995-1003.

Chen, C-S., 2008, Dynamic structure neural-fuzzy networks for robust adaptive control of robot manipulators, IEEE Transactions on Industrial Electronics, 55(9), pp. 3402-3414.

Li, X., Chien, C.C., 2013, Adaptive neural network control of robot based on a unified objective bound, IEEE Transactions on Control Systems Technology, 22(3), pp. 1032-1043.

Peng, J., Yan, L., Jie, W., 2014, Fuzzy adaptive output feedback control for robotic systems based on fuzzy adaptive observer, Nonlinear Dynamics, 78(2), pp. 789-801.

Daş, M.T., Dülger, L.C., Daş, G.S., 2013, Robotic applications with particle swarm optimization (pso), Proc. International Conference on Control, Decision and Information Technologies (CoDIT) IEEE, pp. 160-165.

Vidakovic, J., Kvrgic, V., Lazarevic, M., 2018, Control system design for a centrifuge motion simulator based on dynamic model, Strojniski vestnik/Journal of Mechanical Engineering, 64 (7-8), pp. 465-474.

Kvrgic, V.M., Visnjic, Z.M., Cvijanovic, V.B., Divnic, D.S., Mitrovic, S.M., 2015, Dynamics and control of a spatial disorientation trainer, Robotics and Computer-Integrated Manufacturing, 35, pp. 104-125.

Previc, F.H., Ercoline, W.R., 2004, Chapter 1. Spatial Disorientation in Aviation: Historical Background, Concepts, and Terminology, Progress in astronautics and aeronautics, 203, pp. 1-36.

Lawson, B.D., Curry, I.P., Muth, E.R., Hayes, A.M., Milam, L.S., Brill, J.C., 2017, Training as a countermeasure for spatial disorientation (SD) mishaps: Have opportunities for improvement been missed, Educational Notes Paper NATO-STO-EN-HFM 265.

Lewkowicz, R., Kowaleczko, G., 2019, Kinematic issues of a spatial disorientation simulator, Mechanism and Machine Theory, 138, pp. 169-181.

Gradwell, D., Rainford, D., 2006, Ernsting's Aviation and Space Medicine 4E, CRC Press, 433 p.

Craig, J.J., 2005, Introduction to Robotics: Mechanics and Control (3rd ed.), Pearson Prentice Hall, Upper Saddle River, 264 p., 281 p.

Spong, M.W., Vidyasagar, M., 2008, Robot dynamics and control, John Wiley & Sons, 244 p., 247 p., 238 p.

Vukosavic, S., 2007, Digital Control of Electrical Drives, Springer-Verlag US, New York, pp. 26- 27, 40 p.

Kvrgic, V., Vidaković, J., 2020, Efficient method for robot forward dynamics computation, Mechanism and Machine Theory, 145, 103680.

Dančuo, Z., Kvrgić, V., Rašuo, B., Vidaković, J., 2013, On Dynamics of a Spatial Disorientation Trainer for Pilot Training, Proc. Fourth Serbian Congress on Theoretical and Applied Mechanics, Vrnjačka Banja, pp. 681-686.

Lee, H.S., Tomizuka, M., 1996, Robust motion controller design for high-accuracy positioning systems, IEEE Transaction on Industrial Electronnics, 43(1), pp. 48-55.

Demirtas, M., 2011, Off-line tuning of a PI speed controller for a permanent magnet brushless DC motor using DSP, Energy Conversion and Management, 52(1), pp. 264-273.

Aström, K., Hägglund, T., 1995, PID Controllers: Theory, Design, and Tuning, (2nd ed.), Isa, Research Triangle Park NC, 52 p.

Paul, R.P., 1981, Robot manipulators: mathematics, programming, and control: the computer control of robot manipulators, MIT Press, Cambridge MA, 200 p.

Dhaouadi, R., Kubo, K., Tobise, M., 1993, Two-degree-of-freedom robust speed controller for high-performance rolling mill drives, IEEE transactions on industry applications, 29(5), pp. 919-926.

Siemens Configuration Manual, (PFT6), Edition 12, 2004, 6SN1197-0AD12-0BP0.

Siemens Configuration Manual, 2009, 05/2009, 6SN1197-0AE00-0BP3.


Refbacks

  • There are currently no refbacks.


ISSN: 0354-2025 (Print)

ISSN: 2335-0164 (Online)

COBISS.SR-ID 98732551

ZDB-ID: 2766459-4