- Control and robotics researcheredit
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Incredible applications of robotic manipulators especially in the industrial sector have drawn attention to substitute classical control techniques with more sophisticated intelligent approaches. This, consequently, has motivated robotics... more
Incredible applications of robotic manipulators especially in the industrial sector have drawn attention to substitute classical control techniques with more sophisticated intelligent approaches. This, consequently, has motivated robotics community to formulate a multi-disciplinary domain of ‘robot control’. Highlighting the authors’ contributions in this domain, this paper presents a systematic review of control strategies for multi-Degree Of Freedom (DOF) robotic manipulators. Trivial linear approach, i.e. Proportional-Integral-Derivative (PID) control is briefly commented. Given the fact that a manipulator has a complex structure because of associated nonlinear dynamics and uncertain parameters, robust and nonlinear control techniques have been discussed in detail. These mainly include Computed Torque Control (CTC), Sliding Mode Control (SMC), Disturbance Observer Based Control (DOBC), Model Predictive Control (MPC), Linear Quadratic Regulator (LQR), H∞ control and Passivity Base...
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In recent years, deployment of robotic manipulators in industries and other fields has increased significantly. This growing trend highlights the need of trained engineers and technicians. Virtual robotic platforms facilitate engineers to... more
In recent years, deployment of robotic manipulators in industries and other fields has increased significantly. This growing trend highlights the need of trained engineers and technicians. Virtual robotic platforms facilitate engineers to acquire knowledge and hands-on exposure of cross-disciplinary field of robotics without requiring expensive and sophisticated equipment in laboratories. In this paper, a systematic review of academic and vocational frameworks is presented with a focus on training and teaching of robotic manipulators from mathematical modeling and control perspectives. Highlighting the author’s work in both of these perspectives, a case-study of a 6 degree of freedom (DOF) manipulator is presented. Role of information technology (IT) in educational robotics is also discussed. Outcome of this in-depth review is anticipated to beneficiate instructors, researchers, industrial-interns and robotic hobbyists in selecting the platform as per their application requirements
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This book presents an expert's view of the control law design for robotic manipulators. Control algorithm dictates the performance and efficiency of these manipulators. Designing of control algorithm requires the knowledge of robot... more
This book presents an expert's view of the control law design for robotic manipulators. Control algorithm dictates the performance and efficiency of these manipulators. Designing of control algorithm requires the knowledge of robot dynamics as well as control theory. Results of robust and optimal control algorithms for multi DOF robotics manipulators have been presented in this book. These results will lead towards the designing of hybrid techniques to improve the efficacy of industrial robotic arms involved in much complex tasks
Les Systèmes Multi-Agents (SMA) ont gagné en popularité en raison de leur vaste gamme d'applications. Les SMA sont utilisés pour atteindre des objectifs complexes qui ne pourraient être atteints par un seul agent. La communication et... more
Les Systèmes Multi-Agents (SMA) ont gagné en popularité en raison de leur vaste gamme d'applications. Les SMA sont utilisés pour atteindre des objectifs complexes qui ne pourraient être atteints par un seul agent. La communication et l'échange d'informations entre les agents d'un SMA sont essentiels pour contrôler son comportement coopératif. Les agents partagent leurs informations avec leurs voisins pour atteindre un objectif commun, ils n'ont donc pas besoin d'unité centrale de surveillance. Cependant, la communication entre les agents est soumise à diverses contraintes pratiques. Ces contraintes incluent des périodes d'échantillonnage irrégulières et asynchrones et la disponibilité d'états partiels uniquement. Ces contraintes posent des défis théoriques et pratiques importants. Dans cette thèse, nous étudions deux problèmes fondamentaux liés au contrôle coopératif distribué, à savoir le consensus et le contrôle de formation pour un SMA à double int...
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A robotic manipulator is the most important component in an industrial environment for autonomous execution of tasks. Given the repoted fact that a Proportional-Integral-Derivative (PID) will continue to be the main workhorse in the... more
A robotic manipulator is the most important component in an industrial environment for autonomous execution of tasks. Given the repoted fact that a Proportional-Integral-Derivative (PID) will continue to be the main workhorse in the automation sector, the present paper deals with designing and realizing this control law. A custom-developed pseudo-industrial platform AUTonomous Articulated Robotic Educational Platform (AUTAREP) centered on a 6 DOF manipulator is considered. The derived kinematic and dynamic models of the arm form the basis of MATLAB-based control simulation. The control law after discretization is also implemented on embedded hardware. When subject to various inputs, result of trajectory tracking in the form of output responses, demonstrate superior performance in transient as well as steady state. The stability and convergent behavior of the outputs is also observed, thus highlighting efficacy of proposed approach.
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This paper deals with the problem of collision-free formation tracking of second-order Multi-Agent Systems (MAS) under communication constraints. It is assumed that an agent can only transmit its position to its neighbors at asynchronous... more
This paper deals with the problem of collision-free formation tracking of second-order Multi-Agent Systems (MAS) under communication constraints. It is assumed that an agent can only transmit its position to its neighbors at asynchronous and aperiodic discrete time instants. Velocity and acceleration of the agents are not available. Moreover, the dynamics of the leader can be controlled through an external input. Using continuous-discrete time observers, an output feedback formation controller is designed to drive the agents to a desired formation shape and to ensure that the formation tracks the leader trajectory under directed communication topology. A potential function based mechanism is incorporated into the proposed formation tracking algorithm to avoid collision between agents. The simulation results have shown the efficacy of the proposed algorithm.
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This paper presents a comprehensive review of reported modeling techniques for a serial articulated robotic arm manipulators. Various methodologies including Denavit Hartenberg (D-H) parameters, Screw theory, geometric based approaches... more
This paper presents a comprehensive review of reported modeling techniques for a serial articulated robotic arm manipulators. Various methodologies including Denavit Hartenberg (D-H) parameters, Screw theory, geometric based approaches etc. have been systematically reviewed for their potential benefits and limitations. The second part of this research formulates the kinematic model of a commercial industrial manipulator using Screw theory representation. The derived mathematical model is based on Quaternion and Dual Quaternion. Geometric entity screw represents the translation and rotation of the robotic arm. The proposed model can readily be used to design advanced algorithms for control, trajectory planning, collision avoidance, singularity analysis etc. Potential industrial applications of the presented research range from simulating simple robotic tasks (like pick and place and painting) to more sophisticated operations such as assembling and parts handling.
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In this article, an autonomous robotic fish is designed for underwater operations like object detection and tracking along with collision avoidance. The computer-aided design model for prototype robotic fish is designed using the Solid... more
In this article, an autonomous robotic fish is designed for underwater operations like object detection and tracking along with collision avoidance. The computer-aided design model for prototype robotic fish is designed using the Solid Works® software to export an stereolithography (STL) file to MakerBot, a 3D printer, to manufacture the parts of robotic fish using polylactic acid thermoplastic polymer. The precise maneuverability of the robotic fish is achieved by the propulsion of a caudal fin. The oscillation of the caudal fin is controlled by a servomotor. A combination of visual and ultrasonic sensors is used to track the position and distance of the desired object with respect to the fish and also to avoid the obstacles. The robotic fish has the ability to detect an object up to a distance of 90 cm at normal exposure conditions. A computational fluid dynamics analysis is conducted to analyze the fluid hydrodynamics (flow rate of water and pressure) around the hull of a robotic...
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Robots have become an integral part of industrial automation. Their ultimate role and contribution in this sector is essentially a function of the associated control strategy to ensure precision, repeatability, and reliability,... more
Robots have become an integral part of industrial automation. Their ultimate role and contribution in this sector is essentially a function of the associated control strategy to ensure precision, repeatability, and reliability, particularly in an environment polluted with disturbances and uncertainties. This research aims to present a design of the modern control strategies for a 6 degree of freedom robotic manipulator. Based on derived kinematic and dynamic models of the robot, optimal and robust control strategies are simulated and practically realized on a custom developed pseudo-industrial framework named as AUTonomous Articulated Robotic Educational Platform. Results of the experimental trials in terms of trajectory tracking demonstrate efficiency and usefulness of the presented control approaches.
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The performance of a robotic arm includes accuracy, repeatability and reliability to accomplish a task. These parameters, in turn, are function of associated control law. Multi-Degree Of Freedom (DOF) robotic arms, because of their... more
The performance of a robotic arm includes accuracy, repeatability and reliability to accomplish a task. These parameters, in turn, are function of associated control law. Multi-Degree Of Freedom (DOF) robotic arms, because of their inherent highly non-linear dynamics, demand sophisticated control laws. Trivial control strategies fail to cope with disturbances and uncertainties that are common in today’s plants. This paper presents the design, simulation and physical implementation of a non-linear control technique Variable Structure Control (VSC) for a 6 DOF arm. Based on the derived dynamic model of the arm and designed control law, simulations have been conducted in MATLAB/Simulink. The controller parameters have been tuned for optimal response. Various desired trajectories characterize the tracking performance of the control law. The simulation results have been then validated by implementing the law on a custom-developed novel AUTonomous Articulated Robotic Educational Platform ...