A novel Cross-coupled Synchronizing control Method of Industrial Robot for Trajectory tracking

Lidong Yang; Yanjie Liu; Haijun Han

doi:10.1109/MEACS.2015.7414983

A novel Cross-coupled Synchronizing control Method of Industrial Robot for Trajectory tracking

Lidong Yang, Yanjie Liu, Haijun Han

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

1 Citation (Scopus)

Abstract

Improving the tracking accuracy of industrial robot is an important task for many motion control applications. This paper proposes a novel trajectory tracking method for serial industrial robot based on cross-coupled synchronizing control. Instead of improving the tracking accuracy for individual axes, we present a variable-weight position synchronous error, which can reduce the influence of dynamic nonlinearity through adjusting the error of each axis according to robot's inertia distribution. Then a proportional and derivative (PD)-type synchronizing controller with cross-coupled structure is proposed and proven to guarantee asymptotic convergence to zero of both position and synchronization errors. Simulations conducted on a three-axis industrial robot demonstrate the effectiveness of the method.

Original language	English
Title of host publication	Proceedings of 2015 International Conference on Mechanical Engineering, Automation and Control Systems, MEACS 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Number of pages	4
ISBN (Electronic)	9781467381147
DOIs	https://doi.org/10.1109/MEACS.2015.7414983
Publication status	Published - Dec 2015
Externally published	Yes
Event	International Conference on Mechanical Engineering, Automation and Control Systems, MEACS 2015 - Tomsk, Russian Federation Duration: 1 Dec 2015 → 4 Dec 2015

Publication series

Name	Proceedings of 2015 International Conference on Mechanical Engineering, Automation and Control Systems, MEACS 2015

Conference

Conference	International Conference on Mechanical Engineering, Automation and Control Systems, MEACS 2015
Country/Territory	Russian Federation
City	Tomsk
Period	1/12/15 → 4/12/15

Keywords

cross-coupled control
serial industrial robot
synchronous error
trajectory tracking

ASJC Scopus subject areas

Mechanical Engineering
Modelling and Simulation
Control and Systems Engineering

More information

10.1109/MEACS.2015.7414983

Cite this

Yang, L., Liu, Y., & Han, H. (2015). A novel Cross-coupled Synchronizing control Method of Industrial Robot for Trajectory tracking. In Proceedings of 2015 International Conference on Mechanical Engineering, Automation and Control Systems, MEACS 2015 Article 7414983 (Proceedings of 2015 International Conference on Mechanical Engineering, Automation and Control Systems, MEACS 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MEACS.2015.7414983

Yang, Lidong ; Liu, Yanjie ; Han, Haijun. / A novel Cross-coupled Synchronizing control Method of Industrial Robot for Trajectory tracking. Proceedings of 2015 International Conference on Mechanical Engineering, Automation and Control Systems, MEACS 2015. Institute of Electrical and Electronics Engineers Inc., 2015. (Proceedings of 2015 International Conference on Mechanical Engineering, Automation and Control Systems, MEACS 2015).

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abstract = "Improving the tracking accuracy of industrial robot is an important task for many motion control applications. This paper proposes a novel trajectory tracking method for serial industrial robot based on cross-coupled synchronizing control. Instead of improving the tracking accuracy for individual axes, we present a variable-weight position synchronous error, which can reduce the influence of dynamic nonlinearity through adjusting the error of each axis according to robot's inertia distribution. Then a proportional and derivative (PD)-type synchronizing controller with cross-coupled structure is proposed and proven to guarantee asymptotic convergence to zero of both position and synchronization errors. Simulations conducted on a three-axis industrial robot demonstrate the effectiveness of the method.",

keywords = "cross-coupled control, serial industrial robot, synchronous error, trajectory tracking",

author = "Lidong Yang and Yanjie Liu and Haijun Han",

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year = "2015",

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doi = "10.1109/MEACS.2015.7414983",

language = "English",

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Yang, L, Liu, Y & Han, H 2015, A novel Cross-coupled Synchronizing control Method of Industrial Robot for Trajectory tracking. in Proceedings of 2015 International Conference on Mechanical Engineering, Automation and Control Systems, MEACS 2015., 7414983, Proceedings of 2015 International Conference on Mechanical Engineering, Automation and Control Systems, MEACS 2015, Institute of Electrical and Electronics Engineers Inc., International Conference on Mechanical Engineering, Automation and Control Systems, MEACS 2015, Tomsk, Russian Federation, 1/12/15. https://doi.org/10.1109/MEACS.2015.7414983

A novel Cross-coupled Synchronizing control Method of Industrial Robot for Trajectory tracking. / Yang, Lidong; Liu, Yanjie; Han, Haijun.
Proceedings of 2015 International Conference on Mechanical Engineering, Automation and Control Systems, MEACS 2015. Institute of Electrical and Electronics Engineers Inc., 2015. 7414983 (Proceedings of 2015 International Conference on Mechanical Engineering, Automation and Control Systems, MEACS 2015).

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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AU - Yang, Lidong

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AU - Han, Haijun

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Y1 - 2015/12

N2 - Improving the tracking accuracy of industrial robot is an important task for many motion control applications. This paper proposes a novel trajectory tracking method for serial industrial robot based on cross-coupled synchronizing control. Instead of improving the tracking accuracy for individual axes, we present a variable-weight position synchronous error, which can reduce the influence of dynamic nonlinearity through adjusting the error of each axis according to robot's inertia distribution. Then a proportional and derivative (PD)-type synchronizing controller with cross-coupled structure is proposed and proven to guarantee asymptotic convergence to zero of both position and synchronization errors. Simulations conducted on a three-axis industrial robot demonstrate the effectiveness of the method.

AB - Improving the tracking accuracy of industrial robot is an important task for many motion control applications. This paper proposes a novel trajectory tracking method for serial industrial robot based on cross-coupled synchronizing control. Instead of improving the tracking accuracy for individual axes, we present a variable-weight position synchronous error, which can reduce the influence of dynamic nonlinearity through adjusting the error of each axis according to robot's inertia distribution. Then a proportional and derivative (PD)-type synchronizing controller with cross-coupled structure is proposed and proven to guarantee asymptotic convergence to zero of both position and synchronization errors. Simulations conducted on a three-axis industrial robot demonstrate the effectiveness of the method.

KW - cross-coupled control

KW - serial industrial robot

KW - synchronous error

KW - trajectory tracking

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Yang L, Liu Y, Han H. A novel Cross-coupled Synchronizing control Method of Industrial Robot for Trajectory tracking. In Proceedings of 2015 International Conference on Mechanical Engineering, Automation and Control Systems, MEACS 2015. Institute of Electrical and Electronics Engineers Inc. 2015. 7414983. (Proceedings of 2015 International Conference on Mechanical Engineering, Automation and Control Systems, MEACS 2015). doi: 10.1109/MEACS.2015.7414983

A novel Cross-coupled Synchronizing control Method of Industrial Robot for Trajectory tracking

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