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Development and motion control of spatial serial robotic manipulator under varying disturbances

Alex Barre Epenetus (Department of Electrical and Electronics Engineering, University of Petroleum and Energy Studies, Dehradun, India)
Meera CS (Department of Electrical and Electronics Engineering, University of Petroleum and Energy Studies, Dehradun, India)
Santhakumar Mohan (Indian Institute of Technology Palakkad, Palakkad, India)
Mukul Kumar Gupta (Department of Electrical and Electronics Engineering, University of Petroleum and Energy Studies, Dehradun, India)

World Journal of Engineering

ISSN: 1708-5284

Publication date: 12 August 2019

Abstract

Purpose

Key challenges in evaluating the performance of a robotic manipulator are disturbances that rise internally and externally. Effects of non-linear disturbances like varying payload and joint friction can adversely affect the tracking performance in a robotic manipulator. This paper aims to discuss motion control of a three-link spatial manipulator using a computed torque observer-based control technique.

Design/methodology/approach

The overall motion control problem consists of derivation of kinematic and dynamic model of the manipulator followed by the control design to achieve desired manipulator response. In this study, the manipulator is subjected to uncertain varying load disturbances. The proposed motion controller compensates the effect of the disturbances and guarantees the convergence of tracking error to steady state value.

Findings

One major advantage of using observer-based control is positioning accuracy with robustness to parameter uncertainty and fast dynamics response. The performance of the proposed control technique is validated through real-time experiments conducted on the manipulator. The experiment results confirm the superior performance of the control system in achieving perfect tracking.

Originality/value

This paper demonstrates an observer-based control technique over a serial spatial manipulator which can be applied different robotic configurations under the effect of varying disturbances.

Keywords

Acknowledgements

The authors are thankful for the constant guidance and support provided by the Centre for Robotics and Control, IITI and Robotics Research Centre, UPES. The authors would also like to thank UPES R&D for financial support. They hereby declare that there is no conflict of interest.

Citation

Epenetus, A.B., CS, M., Mohan, S. and Gupta, M.K. (2019), "Development and motion control of spatial serial robotic manipulator under varying disturbances", World Journal of Engineering, Vol. 16 No. 4, pp. 460-467. https://doi.org/10.1108/WJE-02-2019-0052

Publisher

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Emerald Publishing Limited

Copyright © 2019, Emerald Publishing Limited