On-line Self Tuning of Contouring Control for High Accuracy Robot Manipulators under Various Operations

Kelin Li, Sudchai Boonto*, Thanana Nuchkrua

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

6 Scopus citations

Abstract

We present the method of online self-tuning PD controller for the problem of contouring control of robot manipulators. Previously, the dynamics of the robot is transformed into dynamic errors problem by considering the equivalent errors method. It becomes the control problem of stabilization such that it is suitable for advanced control to improve control performance regarding contouring control, i.e., contour accuracy with high speed. Conventional PD tuned by the fuzzy controller with robust extended Kalman filter where it was acting as the robust adaptive controller is utilized to stabilize that control problem. It could determine the stationary point of different processes without knowing prior. In practice, the proposed controller is easily dealt with the problem of stabilization. The experiment results reveal that the proposed technique yields excellent performance under a large disturbance.

Original languageEnglish
Pages (from-to)1818-1828
Number of pages11
JournalInternational Journal of Control, Automation and Systems
Volume18
Issue number7
DOIs
StatePublished - 1 Jul 2020
Externally publishedYes

Keywords

  • Contouring control
  • fuzzy control
  • on-line self tuning
  • robot manipulator

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