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 proceedingConference article published in proceeding or bookAcademic researchpeer-review

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 languageEnglish
Title of host publicationProceedings of 2015 International Conference on Mechanical Engineering, Automation and Control Systems, MEACS 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages4
ISBN (Electronic)9781467381147
DOIs
Publication statusPublished - Dec 2015
Externally publishedYes
EventInternational Conference on Mechanical Engineering, Automation and Control Systems, MEACS 2015 - Tomsk, Russian Federation
Duration: 1 Dec 20154 Dec 2015

Publication series

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

Conference

ConferenceInternational Conference on Mechanical Engineering, Automation and Control Systems, MEACS 2015
Country/TerritoryRussian Federation
CityTomsk
Period1/12/154/12/15

Keywords

  • cross-coupled control
  • serial industrial robot
  • synchronous error
  • trajectory tracking

ASJC Scopus subject areas

  • Mechanical Engineering
  • Modelling and Simulation
  • Control and Systems Engineering

Fingerprint

Dive into the research topics of 'A novel Cross-coupled Synchronizing control Method of Industrial Robot for Trajectory tracking'. Together they form a unique fingerprint.

Cite this