Optimal and Robust Control of Multi DOF Robotic Manipulator: Design and Hardware Realization

Ajwad, Syed Ali; Iqbal, Jamshed; Islam, Raza Ul; Alsheikhy, Ahmed; Almeshal, Abdullah; Mehmood, Adeel

Abstract

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.

Citation

Ajwad, S. A., Iqbal, J., Islam, R. U., Alsheikhy, A., Almeshal, A., & Mehmood, A. (2018). Optimal and Robust Control of Multi DOF Robotic Manipulator: Design and Hardware Realization. Cybernetics and Systems, 49(1), 77-93. https://doi.org/10.1080/01969722.2017.1412905

• Journal Article Type: Article
• Acceptance Date: Dec 1, 2017
• Online Publication Date: Feb 8, 2018
• Publication Date: Jan 2, 2018
• Deposit Date: Sep 14, 2021
• Journal: Cybernetics and Systems
• Print ISSN: 0196-9722
• Electronic ISSN: 1087-6553
• Publisher: Taylor and Francis
• Peer Reviewed: Peer Reviewed
• Volume: 49
• Issue: 1
• Pages: 77-93
• DOI: https://doi.org/10.1080/01969722.2017.1412905
• Keywords: AUTAREP manipulator; Autonomous mechatronics process; Industrial robotic manipulator; Robotic arm control
• Public URL: https://hull-repository.worktribe.com/output/3796968