Abstract
This paper deals with the issue of non-model-based position regulation for the dynamic compensation robotic system (DCRS), which has been proposed for cooperating with the existing main robotic systems, such as the common serial robotic arms, to accomplish high-speed and accurate manipulations. The dynamic compensation concept is realized by fusing a high-speed & light-weight compensation actuator as well as endpoint closed loop (ECL) configured high-speed cameras. Within the context of the DCRS, the coarse motion, which is realized by the main robotic system, usually gives rise to negative dynamic impact on the compensation actuator that is configured to accomplish the fine motion. Through the analysis of a simplified model for the coupled two-plant system, relative velocity information between the two plants is found to play a role in the first order derivative of the displacement error. With the use of the relative position information from high-speed visual feedback, this paper proposes a new pre-compensation fuzzy logic control (PFLC) approach for control of the compensation actuator. The PFLC method is model-independent and is realized with a cascade fuzzy inference structure that conveniently integrates the relative velocity term between the two plants into the error regulation, and therefore realizes the partial counteraction of the disturbance from the main robot easily without knowing the explicit mathematical models of the system. Comparison works between the proposed PFLC and approaches that take no consideration of the relative velocity information, such as proportional-derivative (PD) control and conventional fuzzy logic control, are conducted. Simulations and experiments show the consistent effectiveness of the proposed approach.
Highlights
High-speed and accurate position regulation for the traditional robotic system is a challenging issue in the robotic control theme
It should be noted that since this paper focuses on the fundamental problem of the proposed dynamic compensation robotic system, we will only conduct the analysis as well as evaluation on 1-DOF DCRS - we think that the result in this work is instructive in realizing a multi-DOF DCRS
In order to illustrate the control issue, we firstly introduce a simplified model for the 1-DOF dynamic compensation robotic system
Summary
High-speed and accurate position regulation for the traditional robotic system is a challenging issue in the robotic control theme. Most commercially available industrial robots are equip‐ ped with the so-called non-model-based controllers, as their control systems are treated as decoupled systems and dynamics are neglected [1] Such approximation is accept‐ able for low-speed motion since Coriolis and centripetal forces are limited due to powerful motors and high gear reductions [1, 2]. It should be noted that since this paper focuses on the fundamental problem (counteraction of the nonlinear disturbance from the main robot) of the proposed dynamic compensation robotic system, we will only conduct the analysis as well as evaluation on 1-DOF DCRS - we think that the result in this work is instructive in realizing a multi-DOF DCRS.
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