Control

University of Bridgeport
1
Introduction to ROBOTICS
Control Problem
Determine the time history of joint inputs required
to cause the end-effector to execute a command
motion.

The joint inputs may be joint forces or torques.
Dynamic model
The dynamic model of the robot has the form:

is the torque about z
k
,if joint k is revolute joint
and is a force if joint k is prismatic joint
Where: M() is n x n inertia matrix,
is n x 1 vector of centrifugal terms and
G() is a n x 1 vector of gravity terms.
( ) ( , ) ( ) M V G t = O O + O O + O
( , ) V O O
t
Control Problem
Given: A vector of desired position,
velocity and acceleration.
Required: A vector of joint actuator signals
using the control law.

PD control
The control law takes the form

Where:



E K E K
D P

+ = t
d
E = O O
O O =

d
E
PD control
Robot
K
P
+
K
D
Torque
+
-
e
e
+
-
d
O

d
O
O
Model based control

The control law takes the form:





Kp and K
D
are diagonal matrices.




( )( ) ( , ) ( )
d D p
M K E K E V G t = O O + + + O O + O
d
E = O O
O O =

d
E
Control Problem





Stable Response

Project
The equations of motion:


u
2
u
1
(x , y)
l
2

l
1

( ) ( , ) ( ) M v g u u u u u t + + =
Project
Simulation and Dynamic Control of a 2 DOF
Planar Robot
Problem statement:
- The task is to take the end point of the RR robot
from (0.5, 0.0, 0.0) to (0.5, 0.3, 0.0) in the in a
period of 5 seconds.
- Assume the robot is at rest at the starting point
and should come to come to a complete stop at
the final point.
- The other required system parameters are: L
1
=
L
2
= 0.4m, m
1
= 10kg, m
2
= 7kg, g = 9.82m/s2.

Project
Planning
1. Perform inverse position kinematic analysis of
the serial chain at initial and final positions to
obtain (u
1i
, u
2i
) and (u
1f
, u
2f
).
2. Then, obtain fifth order polynomial functions for
u
1
and u
2
as functions of time such that the
velocity and acceleration of the joints is zero at
the beginning and at the end. These fifth order
polynomials can be differentiated twice to get
the desired velocity and acceleration time
histories for the joints.
Project
Use a PD control law where Kp and Kv are
2x2 diagonal matrices, and us is the
current(sensed) value of the joint angle as
obtained from the simulation. Tune the
control gains to obtain good performance
( ) ( )
p d D d
K K t = O O + O O
Block diagram

2DOF robot
The forward kinematic equations:


The inverse kinematic equations:



The Jacobian matrix

) cos( cos
2 1 2 1 1
u u u + + = l l x
) sin( sin
2 1 2 1 1
u u u + + = l l y
)
2
( cos
2 1
2
2
2
1
2 2
2
l l
l l y x +
= u
)
cos
sin
( tan ) ( tan
2 2 1
2 2
1 1
1
u
u
u
l l
l
x
y
+
=

(

+ + +
+ +
=
) cos( ) cos( cos
) sin( ) sin( sin
2 1 2 2 1 2 1 1
2 1 2 2 1 2 1 1
u u u u u
u u u u u
l l l
l l l
J
u
2
u
1
(x , y)
l
2

l
1