A novel hybrid contouring control method for 3-DOF robotic manipulators

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dc.authoridUzunovic, Tarik/0000-0002-7979-7395;
dc.authorwosidBaran, Eray/U-3499-2019
dc.authorwosidUzunovic, Tarik/O-4712-2018
dc.authorwosidAsif, Sabanovic/N-7789-2013
dc.contributor.authorUzunovic, Tarik
dc.contributor.authorBaran, Eray A.
dc.contributor.authorGolubovic, Edin
dc.contributor.authorSabanovic, Asif
dc.date.accessioned2024-07-18T20:58:31Z
dc.date.available2024-07-18T20:58:31Z
dc.date.issued2016
dc.departmentİstanbul Bilgi Üniversitesien_US
dc.description.abstractA novel controller for three-dimensional contouring control of three-degrees-of-freedom (3-DOF) robotic manipulators is presented in this paper. The proposed controller comprises of an independent joint controller, designed in the configuration space, and a sliding mode controller that enforces desired dynamics for the tracking error projections to the Frenet-Serret frame. Therefore, the presented controller has a hybrid structure and it is named as hybrid contouring controller. In this paper, contour tracking with constant magnitude tangential velocity is discussed. Reference trajectory is generated using the time based spline approximation in order to provide a smooth reference path. The proposed hybrid contouring controller was experimentally compared with the independent joint controller that is designed in the acceleration control framework with disturbance observer. Experimental results, undertaken on a delta robot, showed that hybrid contouring controller outperforms independent joint control architecture. (C) 2016 Elsevier Ltd. All rights reserved.en_US
dc.description.sponsorshipYousef Jameel Scholarship Fund; TUBITAK [111M359, 110M425, 114M578, 2215]en_US
dc.description.sponsorshipThis work was supported in part by the Yousef Jameel Scholarship Fund, TUBITAK Project 111M359, TUBITAK Project 110M425, TUBITAK Project 114M578, TUBITAK BIDEB, and TUBITAK BiDEB 2215.en_US
dc.identifier.doi10.1016/j.mechatronics.2016.10.001
dc.identifier.endpage193en_US
dc.identifier.issn0957-4158
dc.identifier.scopus2-s2.0-85002822020en_US
dc.identifier.scopusqualityQ1en_US
dc.identifier.startpage178en_US
dc.identifier.urihttps://doi.org/10.1016/j.mechatronics.2016.10.001
dc.identifier.urihttps://hdl.handle.net/11411/9001
dc.identifier.volume40en_US
dc.identifier.wosWOS:000390740600017en_US
dc.identifier.wosqualityQ1en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherPergamon-Elsevier Science Ltden_US
dc.relation.ispartofMechatronicsen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectContouring Controlen_US
dc.subjectHybrid Contouring Controlleren_US
dc.subjectCoordinate Transformationen_US
dc.subjectFrenet-Serret Frameen_US
dc.subjectAcceleration Controlen_US
dc.subjectDisturbance Observeren_US
dc.subjectSliding Mode Controlen_US
dc.subjectSpline Approximationen_US
dc.subjectRobotic Manipulatoren_US
dc.subjectMotion Controlen_US
dc.subjectSystemsen_US
dc.subjectAccuracyen_US
dc.titleA novel hybrid contouring control method for 3-DOF robotic manipulatorsen_US
dc.typeArticleen_US

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