NDLI: A novel cross-coupled synchronizing control method of industrial robot for trajectory tracking

Content Provider	IEEE Xplore Digital Library
Author	Lidong Yang Yanjie Liu Haijun Han
Copyright Year	2015
Description	Author affiliation: State Key Laboratory of Robotics and System, Harbin Institute of Technology, China (Lidong Yang; Yanjie Liu; Haijun Han)
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.
Starting Page	1
Ending Page	4
File Size	893496
Page Count	4
File Format	PDF
e-ISBN	9781467381147
DOI	10.1109/MEACS.2015.7414983
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-12-01
Publisher Place	Russia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Service robots Trajectory tracking Synchronous error Robot kinematics Cross-coupled control Serial industrial robot Trajectory
Content Type	Text
Resource Type	Article

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