Research Article
Year 2025,
Volume: 13 Issue: 2, 568 - 579, 01.06.2025
Abstract
References
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- W. Shang and S. Cong, "Nonlinear computed torque control for a high-speed planar parallel manipulator", Mechatronics, vol. 19, no. 6, pp. 987–992, 2009.
- Z. Yang, J. Wu and J. Mei, "Motor-mechanism dynamic model based neural network optimized computed torque control of a high speed parallel manipulator", Mechatronics, vol. 17, no. 7, pp. 381–390, 2007.
- Y. Xu, J. M. Hollerbach and D. Ma, "A nonlinear PD controller for force and contact transient control", IEEE Control Systems Magazine, vol. 15, no. 1, pp. 15–21, 1995.
- R. Hayat, M. Leibold and M. Buss, "Robust-Adaptive Controller Design for Robot Manipulators Using the H∞ Approach", IEEE Access, vol. 6, pp. 51626–51639, 2018.
- S. H. Lee, J. B. Song, W. C. Choi and D. Hong, "Position control of a Stewart platform using inverse dynamics control with approximate dynamics", Mechatronics, vol. 13, no. 6, pp. 605–619, 2003.
- A. S. Polydoros, E. Boukas and L. Nalpantidis, "Online multi-target learning of inverse dynamics models for computed-torque control of compliant manipulators", In IEEE Int Conf Intell Robot Syst, 2017, pp. 4716-4722.
- H. Ozakyol, C. Karaman and Z. Bingul, "Kinematic and Dynamic Analysis and Design Toolbox of High-DOF Hybrid Multibody Systems", In IECON 44th Annu. Conf. IEEE Ind. Electron. Soc., IEEE, 2018, pp. 2558–63.
- G. Yıldız, "Nonlinear Control Methods Of Industrial Serial Robots", Master Thesis, Istanbul Technical University, Istanbul, Türkiye, 2014.
- A. Jain, "Structure-Based Computational Modeling Architecture for Robotics", In IEEE International Conference on Robotics and Automation, 2013.
- T. Yaren and S. Kizir, "Real-Time Nonlinear Model Predictive Control of a Robotic Arm Using Spatial Operator Algebra Theory", Journal of Field Robotics, 2025. DOI: 10.1002/rob.22514
- T. Yaren and S. Kizir, "Advanced SOA-NMPC Controller Design Minimising Real-Time Computational Burden for Dynamic Obstacle Avoidance in Robotic Manipulators", International Journal of Systems Science, 2025. DOI: 10.1080/00207721.2025.2479769
- P. M. Wensing, L. R. Palmer and D. E. Orin, "Efficient recursive dynamics algorithms for operational-space control with application to legged locomotion", Auton Robots, vol. 38, pp. 363–81, 2015.
- J. Nakanishi, M. Mistry and S. Schaal, "Inverse Dynamics Control with Floating Base and Constraints", In Proc. 2007 IEEE Int. Conf. Robot. Autom., 2007, pp. 1942–7.
- A. Elşavi, "Fractional-order impedance control of 2-DOF seri robot", Master Thesis, Kocaeli University, Kocaeli, Türkiye, 2019.
- S. Kizir, T. Yaren and E. Kelekçi, "Matlab Simulink Destekli Gerçek Zamanlı Kontrol: Teori ve Mühendislik Uygulamaları", Ankara, Türkiye: Seçkin Yayıncılık; 2019.
- T. Kang, J. Kim, D. Song, T. Kim and S. J. Yi, "Design and Control of a Service Robot with Modular Cargo Spaces", In 18th Int. Conf. Ubiquitous Robot, 2021, pp. 595–600.
Year 2025,
Volume: 13 Issue: 2, 568 - 579, 01.06.2025
Abstract
This study presents obtaining the mathematical model of a three-degree-of-freedom robotic manipulator using spatial operator algebra (SOA), designing a controller based on the obtained model, and implementing the designed controller in real time. SOA is a technique that provides a mathematical foundation for reducing the complexity of robotic systems, analyzing, and optimizing them. The control of the robotic arm is achieved using the computed torque control method calculated based on mathematical model derived from SOA. The performance of the controller is rigorously evaluated through real-time trajectory tracking experiments, where it consistently achieved high precision in following predefined trajectories, maintaining tracking errors below 2.5 degrees. The effectiveness of the controller is further validated in disturbance rejection tests, where it effectively maintained trajectory accuracy despite manual external perturbations. These tests demonstrate the controller's capability to handle dynamic tasks and disturbances, showcasing the practical applicability and robustness of the SOA-based computed torque control scheme.
References
- T. Yaren and S. Kizir, "Efficiency assessment of SOA-based computed torque control: A comparative analysis with NE-based approach", Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, vol. 238, no. 8, pp. 1410-1424, 2024.
- W. Shang and S. Cong, "Nonlinear computed torque control for a high-speed planar parallel manipulator", Mechatronics, vol. 19, no. 6, pp. 987–992, 2009.
- Z. Yang, J. Wu and J. Mei, "Motor-mechanism dynamic model based neural network optimized computed torque control of a high speed parallel manipulator", Mechatronics, vol. 17, no. 7, pp. 381–390, 2007.
- Y. Xu, J. M. Hollerbach and D. Ma, "A nonlinear PD controller for force and contact transient control", IEEE Control Systems Magazine, vol. 15, no. 1, pp. 15–21, 1995.
- R. Hayat, M. Leibold and M. Buss, "Robust-Adaptive Controller Design for Robot Manipulators Using the H∞ Approach", IEEE Access, vol. 6, pp. 51626–51639, 2018.
- S. H. Lee, J. B. Song, W. C. Choi and D. Hong, "Position control of a Stewart platform using inverse dynamics control with approximate dynamics", Mechatronics, vol. 13, no. 6, pp. 605–619, 2003.
- A. S. Polydoros, E. Boukas and L. Nalpantidis, "Online multi-target learning of inverse dynamics models for computed-torque control of compliant manipulators", In IEEE Int Conf Intell Robot Syst, 2017, pp. 4716-4722.
- H. Ozakyol, C. Karaman and Z. Bingul, "Kinematic and Dynamic Analysis and Design Toolbox of High-DOF Hybrid Multibody Systems", In IECON 44th Annu. Conf. IEEE Ind. Electron. Soc., IEEE, 2018, pp. 2558–63.
- G. Yıldız, "Nonlinear Control Methods Of Industrial Serial Robots", Master Thesis, Istanbul Technical University, Istanbul, Türkiye, 2014.
- A. Jain, "Structure-Based Computational Modeling Architecture for Robotics", In IEEE International Conference on Robotics and Automation, 2013.
- T. Yaren and S. Kizir, "Real-Time Nonlinear Model Predictive Control of a Robotic Arm Using Spatial Operator Algebra Theory", Journal of Field Robotics, 2025. DOI: 10.1002/rob.22514
- T. Yaren and S. Kizir, "Advanced SOA-NMPC Controller Design Minimising Real-Time Computational Burden for Dynamic Obstacle Avoidance in Robotic Manipulators", International Journal of Systems Science, 2025. DOI: 10.1080/00207721.2025.2479769
- P. M. Wensing, L. R. Palmer and D. E. Orin, "Efficient recursive dynamics algorithms for operational-space control with application to legged locomotion", Auton Robots, vol. 38, pp. 363–81, 2015.
- J. Nakanishi, M. Mistry and S. Schaal, "Inverse Dynamics Control with Floating Base and Constraints", In Proc. 2007 IEEE Int. Conf. Robot. Autom., 2007, pp. 1942–7.
- A. Elşavi, "Fractional-order impedance control of 2-DOF seri robot", Master Thesis, Kocaeli University, Kocaeli, Türkiye, 2019.
- S. Kizir, T. Yaren and E. Kelekçi, "Matlab Simulink Destekli Gerçek Zamanlı Kontrol: Teori ve Mühendislik Uygulamaları", Ankara, Türkiye: Seçkin Yayıncılık; 2019.
- T. Kang, J. Kim, D. Song, T. Kim and S. J. Yi, "Design and Control of a Service Robot with Modular Cargo Spaces", In 18th Int. Conf. Ubiquitous Robot, 2021, pp. 595–600.
There are 17 citations in total.
Details
| Primary Language | English |
|---|---|
| Subjects | Control Engineering, Control Engineering, Mechatronics and Robotics (Other) |
| Journal Section | Research Article |
| Authors | |
| Publication Date | June 1, 2025 |
| Submission Date | December 3, 2024 |
| Acceptance Date | May 6, 2025 |
| Published in Issue | Year 2025 Volume: 13 Issue: 2 |
