Positioning Error Reduction in Robotic Manipulator SEIKO D-TRAN RT3200 Using Repetitive Control

Article Sidebar

PDF
Published: May 18, 2018
Keywords:
Industrial Manipulator SEIKO D-TRAN RT3200 Repetitive Control Tracking Error Optimization Cost Function

Main Article Content

Pongsakorn Roopyai
Department of Control System and Instrumentation Engineering, Faculty of Engineering, King Mongkut’s University of Technology Thonburi, Bangkok
Benjamas Panomruttanarug
Department of Control System and Instrumentation Engineering, Faculty of Engineering, King Mongkut’s University of Technology Thonburi, Bangkok

Abstract

Nowadays, automation machines are popular in Thai manufacturing industries. An industrial robot arm is one kind of machine that has been widely used for tracking applications, such as spot welding or path welding, “pick and place” tasks, laser cutting, gluing, and painting. Due to the imperfect mechanical parts of the robot arm, distance errors generally occur during the operation and sometimes this causes defects in the production line. This issue has been seriously taken into account when applying the robot arm to high-precision tasks. This research studies how to improve the performance of the industrial robot arm, SEIKO D-TRAN RT3200, performing a repetitive task by using 3 types of repetitive control designs: 1) a simple repetitive controller; 2) an optimal repetitive controller designed in the frequency domain; 3) and an optimal and robust repetitive controller designed in the frequency domain. The stability and performance of the controllers are demonstrated in the simulation results.

Article Details

Issue
Vol. 28 No. 2 (2018): April-June, 2018
Section
Engineering Research Articles

The articles published are the opinion of the author only. The author is responsible for any legal consequences. That may arise from that article.

References

[1] B. Panomruttanarug, W. Pornsukvitoon, and J. Pakkawanit, “A study of forward and inverse kinematics for 6−Link Robot Arm (Staubli RX 90),” The Journal of KMUTNB, vol. 27, no. 3, pp. 1–12, Jul. 2017 (in Thai).

[2] V. Santibanez and R. Kelly, “A class of nonlinear pid global regulators for robot manipulators,” Proceedings of the IEEE International Conference on Robotics and Automation, pp. 3601–3608, 1998.

[3] J. Orrante-Sakanassi, V. Santibanez, and M. Hernández-Guzmán, “New tuning conditions for a class of nonlinear pid global regulators of robot manipulators,” International Journal of Control, vol. 87, no. 4, pp. 728–741, Dec. 2013.

[4] S. Alavandar and M. J. Nigam, “Fuzzy PD+ I control of a six DOF robot manipulator,” Industrial Robot: An International Journal, vol. 35, no. 2, pp. 125–132, Mar. 2008.

[5] H. Chaudhary, V. Panwar, N. Sukavanum, and R. Prasad, “Fuzzy PD+I based hybrid force/ position control of an industrial robot manipulator,” IFAC Proceedings Volumes, vol. 47, no. 1, pp. 429–436, 2014.

[6] J. J. E. Slotine and L. Weiping, “Adaptive manipulator control: A case study,” IEEE Transactions on Automatic Control, pp. 995–1003, 1987.

[7] C.-L. Chen and C.-J. Lin, “A sliding mode control approach to robotic tracking problem,” IFAC Proceedings Volumes, vol. 35, no. 1, pp. 55–59, 2002.

[8] K. Braikia, M. Chettouh, B. Tondu, P. Acco, and M. Hamerlain, “Improved control strategy of 2-sliding controls applied to a flexible robot arm,” Advanced Robotics, vol. 25, no. 11–12, pp. 1515–1538, Jan. 2011.

[9] M. Tomizuka, T.-C. Tsao, and K.-K. Chew, “Analysis and synthesis of discrete-time repetitive controllers,” Journal of Dynamic Systems Measurement and Control, vol. 111, no. 3, pp. 353–358, 1989.

[10] C. Cosner, G. Anwar, and M. Tomizuka, “Plug in repetitive control for industrial robotic manipulators,” IEEE International Conference on Robotics and Automation, pp. 1970–1975, 1990.

[11] B. Zhang, D. Wang, K. Zhou, and Y. Wang, “Linear phase lead compensation repetitive control of a CVCF PWM inverter,” IEEE Transactions of Industrial Electronics, vol. 55, no. 4, pp. 1595–1602, Apr. 2008.

[12] X. H. Wu, S. K. Panda, and J. X. Xu, “Design of a plug-in repetitive control scheme for eliminating supply-side current harmonics of three phase pwm boost rectifiers under generalized supply voltage conditions,” IEEE Transactions of Industrial Electronics, vol. 25, no. 7, pp. 1800–1810, Jul. 2010.

[13] E. Kurniawan, Z. Cao, and Z. Man, “Design of robust repetitive control with time-varying sampling periods,” IEEE Transactions of Industrial Electronics, vol. 61, no. 6, pp. 2834–2841, Jun. 2014.

[14] B. Panomruttanarug and R.W. Longman, “Repetitive controller design using optimization in frequency domain,” in Proceedings of the 2004 AIAA/AAS Astrodynamics Specialist Conference and Exhibit, Aug. 2004.

[15] B. Panomruttanarug and R. W.Longman, “Frequency based optimal design of FIR zero phase filters and compensators for robust repetitive control,” Advances in the Astronautical Sciences, vol. 123, pp. 219–238, 2005.

[16] Seiko RT 3200. Seiko. California, United States [Online]. Available: http://web.cecs.pdx.edu/~mperkows/CLASS_ROBOTICS/2001/seikoRT3200.pdf

[17] R. W. Longman, “Iterative learning control and repetitive control for engineering practice,” International Journal of Control, vol. 73, no. 10, pp. 930–954, 2000.