Slow-motion control of an unloaded hydraulic robot arm

Eduardo Licéaga-Castro; Eva M. Navarro-López; Roberto García-Aguilar; Juan M. Andújar-Morgado

doi:10.1016/j.precisioneng.2012.01.001

Slow-motion control of an unloaded hydraulic robot arm

Eduardo Licéaga-Castro, Eva M. Navarro-López, Roberto García-Aguilar, Juan M. Andújar-Morgado

Research output: Contribution to journal › Article › peer-review

Abstract

The slow-motion control of an experimental hydraulically actuated robot with unknown friction forces and stick-slip oscillations is considered. A solution based on a design well-suited for engineering implementation is proposed. This consists of a double integral action controller with adequate stability margins. With such a configuration, harmful jerky motion is eliminated. Limited resolution of the sensors, friction forces and the integral actions of the controller give rise to stick-slip oscillations. The consideration of a switching control based on a linear observer designed for the closed-loop system makes the mechanism be free of these oscillations. Experimental results show the effectivity of the control scheme. The relevance of the solution here proposed is threefold: (a) well-known control engineering techniques are applied, (b) modelling and identification of elaborated friction force models usually required for more sophisticated controllers are not needed for the solution here proposed, and (c) the control system stability margin specifications considered are adequate. © 2012 Elsevier Inc. All rights reserved.

Original language	English
Pages (from-to)	388-398
Number of pages	10
Journal	Precision Engineering
Volume	36
Issue number	3
DOIs	https://doi.org/10.1016/j.precisioneng.2012.01.001
Publication status	Published - Jul 2012

Keywords

Discontinuous systems
Friction control system design
Hydraulic actuator control
Observer design
Stick-slip friction

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10.1016/j.precisioneng.2012.01.001

http://www.sciencedirect.com/science/article/pii/S0141635912000049

Cite this

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title = "Slow-motion control of an unloaded hydraulic robot arm",

abstract = "The slow-motion control of an experimental hydraulically actuated robot with unknown friction forces and stick-slip oscillations is considered. A solution based on a design well-suited for engineering implementation is proposed. This consists of a double integral action controller with adequate stability margins. With such a configuration, harmful jerky motion is eliminated. Limited resolution of the sensors, friction forces and the integral actions of the controller give rise to stick-slip oscillations. The consideration of a switching control based on a linear observer designed for the closed-loop system makes the mechanism be free of these oscillations. Experimental results show the effectivity of the control scheme. The relevance of the solution here proposed is threefold: (a) well-known control engineering techniques are applied, (b) modelling and identification of elaborated friction force models usually required for more sophisticated controllers are not needed for the solution here proposed, and (c) the control system stability margin specifications considered are adequate. {\textcopyright} 2012 Elsevier Inc. All rights reserved.",

keywords = "Discontinuous systems, Friction control system design, Hydraulic actuator control, Observer design, Stick-slip friction",

author = "Eduardo Lic{\'e}aga-Castro and Navarro-L{\'o}pez, {Eva M.} and Roberto Garc{\'i}a-Aguilar and And{\'u}jar-Morgado, {Juan M.}",

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T1 - Slow-motion control of an unloaded hydraulic robot arm

AU - Licéaga-Castro, Eduardo

AU - Navarro-López, Eva M.

AU - García-Aguilar, Roberto

AU - Andújar-Morgado, Juan M.

N1 - EPSRC, RCUK

PY - 2012/7

Y1 - 2012/7

N2 - The slow-motion control of an experimental hydraulically actuated robot with unknown friction forces and stick-slip oscillations is considered. A solution based on a design well-suited for engineering implementation is proposed. This consists of a double integral action controller with adequate stability margins. With such a configuration, harmful jerky motion is eliminated. Limited resolution of the sensors, friction forces and the integral actions of the controller give rise to stick-slip oscillations. The consideration of a switching control based on a linear observer designed for the closed-loop system makes the mechanism be free of these oscillations. Experimental results show the effectivity of the control scheme. The relevance of the solution here proposed is threefold: (a) well-known control engineering techniques are applied, (b) modelling and identification of elaborated friction force models usually required for more sophisticated controllers are not needed for the solution here proposed, and (c) the control system stability margin specifications considered are adequate. © 2012 Elsevier Inc. All rights reserved.

AB - The slow-motion control of an experimental hydraulically actuated robot with unknown friction forces and stick-slip oscillations is considered. A solution based on a design well-suited for engineering implementation is proposed. This consists of a double integral action controller with adequate stability margins. With such a configuration, harmful jerky motion is eliminated. Limited resolution of the sensors, friction forces and the integral actions of the controller give rise to stick-slip oscillations. The consideration of a switching control based on a linear observer designed for the closed-loop system makes the mechanism be free of these oscillations. Experimental results show the effectivity of the control scheme. The relevance of the solution here proposed is threefold: (a) well-known control engineering techniques are applied, (b) modelling and identification of elaborated friction force models usually required for more sophisticated controllers are not needed for the solution here proposed, and (c) the control system stability margin specifications considered are adequate. © 2012 Elsevier Inc. All rights reserved.

KW - Discontinuous systems

KW - Friction control system design

KW - Hydraulic actuator control

KW - Observer design

KW - Stick-slip friction

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DO - 10.1016/j.precisioneng.2012.01.001

M3 - Article

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VL - 36

SP - 388

EP - 398

JO - Precision Engineering

JF - Precision Engineering

IS - 3

ER -

Slow-motion control of an unloaded hydraulic robot arm

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Keywords

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