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Design of a Control System for Serial Mechanisms

[+] Author Affiliations
Dan Zhang

York University, Toronto, ON, Canada

Bin Wei

University of Ontario Institute of Technology, Oshawa, ON, Canada

Paper No. DSCC2016-9904, pp. V002T17A010; 10 pages
  • ASME 2016 Dynamic Systems and Control Conference
  • Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control
  • Minneapolis, Minnesota, USA, October 12–14, 2016
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5070-1
  • Copyright © 2016 by ASME


A hybrid control system for multi degrees of freedom robotic manipulator is designed by integrating a proportional-integral-derivative controller (PID) and a model reference adaptive controller (MRAC) in order to further improve the accuracy and joint convergence speed performance. For the 1-DOF link, because the inertia matrices and nonlinear term of the dynamic equation are constant, we can directly combine the PID and MRAC controller to design the PID+MRAC controller. However, for the more than 1-DOF link case, it is no longer applicable because the inertia matrices and nonlinear term of the dynamic equation are not constant. By using an improved adaptive algorithm and structure, and by combining the PID and improved MRAC controllers, a controller is designed for the more than 1-DOF link case. The convergence performance of the PID controller, MRAC and the PID+MRAC hybrid controller for 1-DOF, 2-DOF and subsequently 3-DOF manipulators are compared.

Copyright © 2016 by ASME



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