ISA Interchange

Welcome to the official blog of the International Society of Automation (ISA).

All Posts

PID Controller Tracking of Industrial Robotic Manipulators [Technical]

 

This post is an excerpt from the journal ISA Transactions. All ISA Transactions articles are free to ISA members, or can be purchased from Elsevier Press.

 

Abstract: This paper presents the tracking control for a robotic manipulator type delta employing fractional order PID controllers with computed torque control strategy.  It is contrasted with an integer order PID controller with computed torque control strategy. The mechanical structure, kinematics and dynamic models of the delta robot are descripted. A SOLIDWORKS/MSC-ADAMS/MATLAB co-simulation model of the delta robot is built and employed for the stages of identification, design, and validation of control strategies. Identification of the dynamic model of the robot is performed using the least squares algorithm. A linearized model of the robotic system is obtained employing the computed torque control strategy resulting in a decoupled double integrating system. From the linearized model of the delta robot, fractional order PID and integer order PID controllers are designed, analyzing the dynamical behavior for many evaluation trajectories. Controllers robustness is evaluated against external disturbances employing performance indexes for the joint and spatial error, applied torque in the joints and trajectory tracking. Results show that fractional order PID with the computed torque control strategy has a robust performance and active disturbance rejection when it is applied to parallel robotic manipulators on tracking tasks.

 

Free Bonus! To read the full version of this ISA Transactions article, click here.

 

Enjoy this technical resource article? Join ISA and get free access to all ISA Transactions articles as well as a wealth of other technical content, plus professional networking and discounts on technical training, books, conferences, and professional certification.

Click here to join ISA ... learn, advance, succeed!

 

Copyright © 2019 Elsevier Science Ltd. All rights reserved.

 

Related Posts

What Is Functional Safety?

Functional safety focuses on the detection of a potentially dangerous condition and depends on automatic ...
Jennifer Infantino Halsey Apr 7, 2020 5:15:00 AM

Companies Ramp Up Production of N95 Masks in Response to COVID-19

COVID-19 has exponentially increased the need for N95 disposable masks in hospitals and medical facilitie...
Kara Phelps Apr 3, 2020 5:15:00 AM

Newsweek Vantage Report on Cyber Risks to Critical Infrastructure: ISA's the Expert Partner

Newsweek Vantage recently published an independent report on cyber risks to critical infrastructure—and t...
Kara Phelps Mar 24, 2020 3:11:27 PM