CONTROL OF MANIPULATOR IN TASK SPACE USING MODIFIED TRANSPOSE EFFECTIVE JACOBIAN AND MODEL BASED FRICTION COMPENSATOR

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NAGHIBI SEYYED REZA; PIRMOHAMADI ALI AKBAR; MOOSAVIAN SEYYED ALI AKBAR

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Paper Information

Journal: Modares Mechanical Engineering Year:2018 | Volume:18 | Issue:1 Page(s): 335-344

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Title

CONTROL OF MANIPULATOR IN TASK SPACE USING MODIFIED TRANSPOSE EFFECTIVE JACOBIAN AND MODEL BASED FRICTION COMPENSATOR

Author(s)

NAGHIBI SEYYED REZA | PIRMOHAMADI ALI AKBAR | MOOSAVIAN SEYYED ALI AKBAR | Issue Writer Certificate

Keywords

TJ CONTROLLERQ1

LUGRE FRICTION MODELQ1

RBF ADAPTIVE NEURAL NETWORKQ1

Abstract

This paper considers the issue of precise control of robotic manipulators in the presence of dynamic uncertainties along with hard nonlinear perturbation such as friction using Modified Transpose Effective Jacobian and model based friction compensator. In order to model friction in robot joints, The LUGRE FRICTION MODEL has been used and its unknown parameters have been identified by a bio-inspired optimization algorithm called Cuttlefish. By comparing Cuttlefish with other meta-heuristic algorithms such as Glowworm swarm optimization, its superiorities have been proved. After accurate identification of model parameters and determine frictions function, using Modified Transpose Effective Jacobian and model-based friction compensator, a two link planar manipulator has been controlled experimentally. Furthermore in order to compare the controller performance with other methods, the mentioned manipulator has been controlled using computed torque controller and transpose Jacobian besides Adaptive Radial Based Function Neural Network friction compensators. Experimental results offer the Modified Transpose effective Jacobian control method has privileges for better tracking control with more accuracy and better friction compensating as well as better robustness against dynamic uncertainties with lower computational efforts.

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APA: Copy

NAGHIBI, SEYYED REZA, PIRMOHAMADI, ALI AKBAR, & MOOSAVIAN, SEYYED ALI AKBAR. (2018). CONTROL OF MANIPULATOR IN TASK SPACE USING MODIFIED TRANSPOSE EFFECTIVE JACOBIAN AND MODEL BASED FRICTION COMPENSATOR. MODARES MECHANICAL ENGINEERING, 18(1 ), 335-344. SID. https://sid.ir/paper/179419/en

Vancouver: Copy

NAGHIBI SEYYED REZA, PIRMOHAMADI ALI AKBAR, MOOSAVIAN SEYYED ALI AKBAR. CONTROL OF MANIPULATOR IN TASK SPACE USING MODIFIED TRANSPOSE EFFECTIVE JACOBIAN AND MODEL BASED FRICTION COMPENSATOR. MODARES MECHANICAL ENGINEERING[Internet]. 2018;18(1 ):335-344. Available from: https://sid.ir/paper/179419/en

IEEE: Copy

SEYYED REZA NAGHIBI, ALI AKBAR PIRMOHAMADI, and SEYYED ALI AKBAR MOOSAVIAN, “CONTROL OF MANIPULATOR IN TASK SPACE USING MODIFIED TRANSPOSE EFFECTIVE JACOBIAN AND MODEL BASED FRICTION COMPENSATOR,” MODARES MECHANICAL ENGINEERING, vol. 18, no. 1 , pp. 335–344, 2018, [Online]. Available: https://sid.ir/paper/179419/en

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