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An Adaptive Gain Dynamics for Time Delay Control Improves Accuracy and Robustness to Significant Payload Changes for Robots

Title
An Adaptive Gain Dynamics for Time Delay Control Improves Accuracy and Robustness to Significant Payload Changes for Robots
Authors
Lee JunyoungChang, Pyung HunJin Maolin
DGIST Authors
Lee Junyoung; Chang, Pyung Hun; Jin Maolin
Issue Date
2020-04
Citation
IEEE Transactions on Industrial Electronics, 67(4), 3076-3085
Type
Article
Article Type
Article
Author Keywords
Manipulator dynamicsTuningDelay effectsAdaptation modelsAdaptive controlrobot manipulatorsliding mode controltime delay control (TDC)Payloads
Keywords
SLIDING-MODE CONTROLIMPEDANCE CONTROLSYSTEMSSYNCHRONIZATIONMANIPULATORSACTUATORSDESIGN
ISSN
0278-0046
Abstract
Time delay control (TDC) is a promising technique for robot manipulators because it is model-free, efficient, and yet, robust. Nevertheless, when a robot operates under significant payload changes, it is difficult to achieve satisfactory performance with a constant gain. To cope with this problem, several adaptive rules have already been proposed thus far, but they are less effective to significant payload changes, and parameter tuning procedures are too complicated. In this paper, we propose an adaptive gain dynamics that is more effective in payload changes and yet simpler to implement. Through simulations using a one-link arm and experiments using a whole arm manipulator with payload changes, the proposed dynamics was compared with the conventional TDC and two other existing methods. Simulation results show that the proposed algorithm can adapt to significant payload changes, achieving better accuracy than the conventional TDC. Experimental results show that the proposed method has consistently better adaptation capability than other methods, achieving significantly better accuracy. In addition, the proposed method is simpler to implement, having only one tuning parameter, whereas the existing methods require four or five such tuning parameters.
URI
http://hdl.handle.net/20.500.11750/11403
DOI
10.1109/TIE.2019.2912774
Publisher
Institute of Electrical and Electronics Engineers
Files:
There are no files associated with this item.
Collection:
Department of Robotics EngineeringETC1. Journal Articles


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