ALI, Khurram ;MEHMOOD, Adeel ;MUHAMMAD, Israr ;RAZZAQ, Sohail ;IQBAL, Jamshed . Control of an Anthropomorphic Manipulator using LuGre Friction Model – Design and Experimental Validation. Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 67, n.9, p. 401-410, september 2021. ISSN 0039-2480. Available at: <https://www.sv-jme.eu/article/control-of-an-anthropomorphic-manipulator-using-lugre-friction-model-design-and-experimental-evaluation/>. Date accessed: 10 dec. 2024. doi:http://dx.doi.org/10.5545/sv-jme.2021.7258.
Ali, K., Mehmood, A., Muhammad, I., Razzaq, S., & Iqbal, J. (2021). Control of an Anthropomorphic Manipulator using LuGre Friction Model – Design and Experimental Validation. Strojniški vestnik - Journal of Mechanical Engineering, 67(9), 401-410. doi:http://dx.doi.org/10.5545/sv-jme.2021.7258
@article{sv-jmesv-jme.2021.7258, author = {Khurram Ali and Adeel Mehmood and Israr Muhammad and Sohail Razzaq and Jamshed Iqbal}, title = {Control of an Anthropomorphic Manipulator using LuGre Friction Model – Design and Experimental Validation}, journal = {Strojniški vestnik - Journal of Mechanical Engineering}, volume = {67}, number = {9}, year = {2021}, keywords = {robotic manipulator; LuGre friction model; sliding mode control}, abstract = {Automation technology has been extensively recognized as an emerging field in various industrial applications. Recent breakthrough in flexible automation is primarily due to deployment of robotic arms or manipulators. Autonomy in these manipulators is essentially linked with the advancements in non-linear control systems. The objective of this research is to propose a robust control algorithm for a five degree of freedom (DOF) robotic arm to achieve superior performance and reliability in the presence of friction. A friction compensation-based non-linear control has been proposed and realized for the robotic manipulator. The dynamic model of the robot has been derived by considering the dynamic friction model. The proposed three-state model is validated for all the joints of the manipulator. The integral sliding mode control (ISMC) methodology has been designed; the trajectories of system every time begin from the sliding surface and it eliminates the reaching phase with assistance of integral term in the sliding surface manifold. The designed control law has been first simulated in Matlab/Simulink environment to characterize the control performance in terms of tracking of various trajectories. The results confirm the effectiveness of the proposed control law with model-based friction compensation. The transient parameters like settling and peak time have improvement as well have better results with friction than without considering the friction. The proposed control law is then realized on an in-house developed autonomous articulated robotic educational platform (AUTAREP) and NI myRIO hardware interfaced with LabVIEW. Experimental results also witnessed the trajectory tracking by the robotic platform.}, issn = {0039-2480}, pages = {401-410}, doi = {10.5545/sv-jme.2021.7258}, url = {https://www.sv-jme.eu/article/control-of-an-anthropomorphic-manipulator-using-lugre-friction-model-design-and-experimental-evaluation/} }
Ali, K.,Mehmood, A.,Muhammad, I.,Razzaq, S.,Iqbal, J. 2021 September 67. Control of an Anthropomorphic Manipulator using LuGre Friction Model – Design and Experimental Validation. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 67:9
%A Ali, Khurram %A Mehmood, Adeel %A Muhammad, Israr %A Razzaq, Sohail %A Iqbal, Jamshed %D 2021 %T Control of an Anthropomorphic Manipulator using LuGre Friction Model – Design and Experimental Validation %B 2021 %9 robotic manipulator; LuGre friction model; sliding mode control %! Control of an Anthropomorphic Manipulator using LuGre Friction Model – Design and Experimental Validation %K robotic manipulator; LuGre friction model; sliding mode control %X Automation technology has been extensively recognized as an emerging field in various industrial applications. Recent breakthrough in flexible automation is primarily due to deployment of robotic arms or manipulators. Autonomy in these manipulators is essentially linked with the advancements in non-linear control systems. The objective of this research is to propose a robust control algorithm for a five degree of freedom (DOF) robotic arm to achieve superior performance and reliability in the presence of friction. A friction compensation-based non-linear control has been proposed and realized for the robotic manipulator. The dynamic model of the robot has been derived by considering the dynamic friction model. The proposed three-state model is validated for all the joints of the manipulator. The integral sliding mode control (ISMC) methodology has been designed; the trajectories of system every time begin from the sliding surface and it eliminates the reaching phase with assistance of integral term in the sliding surface manifold. The designed control law has been first simulated in Matlab/Simulink environment to characterize the control performance in terms of tracking of various trajectories. The results confirm the effectiveness of the proposed control law with model-based friction compensation. The transient parameters like settling and peak time have improvement as well have better results with friction than without considering the friction. The proposed control law is then realized on an in-house developed autonomous articulated robotic educational platform (AUTAREP) and NI myRIO hardware interfaced with LabVIEW. Experimental results also witnessed the trajectory tracking by the robotic platform. %U https://www.sv-jme.eu/article/control-of-an-anthropomorphic-manipulator-using-lugre-friction-model-design-and-experimental-evaluation/ %0 Journal Article %R 10.5545/sv-jme.2021.7258 %& 401 %P 10 %J Strojniški vestnik - Journal of Mechanical Engineering %V 67 %N 9 %@ 0039-2480 %8 2021-09-28 %7 2021-09-28
Ali, Khurram, Adeel Mehmood, Israr Muhammad, Sohail Razzaq, & Jamshed Iqbal. "Control of an Anthropomorphic Manipulator using LuGre Friction Model – Design and Experimental Validation." Strojniški vestnik - Journal of Mechanical Engineering [Online], 67.9 (2021): 401-410. Web. 10 Dec. 2024
TY - JOUR AU - Ali, Khurram AU - Mehmood, Adeel AU - Muhammad, Israr AU - Razzaq, Sohail AU - Iqbal, Jamshed PY - 2021 TI - Control of an Anthropomorphic Manipulator using LuGre Friction Model – Design and Experimental Validation JF - Strojniški vestnik - Journal of Mechanical Engineering DO - 10.5545/sv-jme.2021.7258 KW - robotic manipulator; LuGre friction model; sliding mode control N2 - Automation technology has been extensively recognized as an emerging field in various industrial applications. Recent breakthrough in flexible automation is primarily due to deployment of robotic arms or manipulators. Autonomy in these manipulators is essentially linked with the advancements in non-linear control systems. The objective of this research is to propose a robust control algorithm for a five degree of freedom (DOF) robotic arm to achieve superior performance and reliability in the presence of friction. A friction compensation-based non-linear control has been proposed and realized for the robotic manipulator. The dynamic model of the robot has been derived by considering the dynamic friction model. The proposed three-state model is validated for all the joints of the manipulator. The integral sliding mode control (ISMC) methodology has been designed; the trajectories of system every time begin from the sliding surface and it eliminates the reaching phase with assistance of integral term in the sliding surface manifold. The designed control law has been first simulated in Matlab/Simulink environment to characterize the control performance in terms of tracking of various trajectories. The results confirm the effectiveness of the proposed control law with model-based friction compensation. The transient parameters like settling and peak time have improvement as well have better results with friction than without considering the friction. The proposed control law is then realized on an in-house developed autonomous articulated robotic educational platform (AUTAREP) and NI myRIO hardware interfaced with LabVIEW. Experimental results also witnessed the trajectory tracking by the robotic platform. UR - https://www.sv-jme.eu/article/control-of-an-anthropomorphic-manipulator-using-lugre-friction-model-design-and-experimental-evaluation/
@article{{sv-jme}{sv-jme.2021.7258}, author = {Ali, K., Mehmood, A., Muhammad, I., Razzaq, S., Iqbal, J.}, title = {Control of an Anthropomorphic Manipulator using LuGre Friction Model – Design and Experimental Validation}, journal = {Strojniški vestnik - Journal of Mechanical Engineering}, volume = {67}, number = {9}, year = {2021}, doi = {10.5545/sv-jme.2021.7258}, url = {https://www.sv-jme.eu/article/control-of-an-anthropomorphic-manipulator-using-lugre-friction-model-design-and-experimental-evaluation/} }
TY - JOUR AU - Ali, Khurram AU - Mehmood, Adeel AU - Muhammad, Israr AU - Razzaq, Sohail AU - Iqbal, Jamshed PY - 2021/09/28 TI - Control of an Anthropomorphic Manipulator using LuGre Friction Model – Design and Experimental Validation JF - Strojniški vestnik - Journal of Mechanical Engineering; Vol 67, No 9 (2021): Strojniški vestnik - Journal of Mechanical Engineering DO - 10.5545/sv-jme.2021.7258 KW - robotic manipulator, LuGre friction model, sliding mode control N2 - Automation technology has been extensively recognized as an emerging field in various industrial applications. Recent breakthrough in flexible automation is primarily due to deployment of robotic arms or manipulators. Autonomy in these manipulators is essentially linked with the advancements in non-linear control systems. The objective of this research is to propose a robust control algorithm for a five degree of freedom (DOF) robotic arm to achieve superior performance and reliability in the presence of friction. A friction compensation-based non-linear control has been proposed and realized for the robotic manipulator. The dynamic model of the robot has been derived by considering the dynamic friction model. The proposed three-state model is validated for all the joints of the manipulator. The integral sliding mode control (ISMC) methodology has been designed; the trajectories of system every time begin from the sliding surface and it eliminates the reaching phase with assistance of integral term in the sliding surface manifold. The designed control law has been first simulated in Matlab/Simulink environment to characterize the control performance in terms of tracking of various trajectories. The results confirm the effectiveness of the proposed control law with model-based friction compensation. The transient parameters like settling and peak time have improvement as well have better results with friction than without considering the friction. The proposed control law is then realized on an in-house developed autonomous articulated robotic educational platform (AUTAREP) and NI myRIO hardware interfaced with LabVIEW. Experimental results also witnessed the trajectory tracking by the robotic platform. UR - https://www.sv-jme.eu/article/control-of-an-anthropomorphic-manipulator-using-lugre-friction-model-design-and-experimental-evaluation/
Ali, Khurram, Mehmood, Adeel, Muhammad, Israr, Razzaq, Sohail, AND Iqbal, Jamshed. "Control of an Anthropomorphic Manipulator using LuGre Friction Model – Design and Experimental Validation" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 67 Number 9 (28 September 2021)
Strojniški vestnik - Journal of Mechanical Engineering 67(2021)9, 401-410
© The Authors, CC-BY 4.0 Int. Change in copyright policy from 2022, Jan 1st.
Automation technology has been extensively recognized as an emerging field in various industrial applications. Recent breakthrough in flexible automation is primarily due to deployment of robotic arms or manipulators. Autonomy in these manipulators is essentially linked with the advancements in non-linear control systems. The objective of this research is to propose a robust control algorithm for a five degree of freedom (DOF) robotic arm to achieve superior performance and reliability in the presence of friction. A friction compensation-based non-linear control has been proposed and realized for the robotic manipulator. The dynamic model of the robot has been derived by considering the dynamic friction model. The proposed three-state model is validated for all the joints of the manipulator. The integral sliding mode control (ISMC) methodology has been designed; the trajectories of system every time begin from the sliding surface and it eliminates the reaching phase with assistance of integral term in the sliding surface manifold. The designed control law has been first simulated in Matlab/Simulink environment to characterize the control performance in terms of tracking of various trajectories. The results confirm the effectiveness of the proposed control law with model-based friction compensation. The transient parameters like settling and peak time have improvement as well have better results with friction than without considering the friction. The proposed control law is then realized on an in-house developed autonomous articulated robotic educational platform (AUTAREP) and NI myRIO hardware interfaced with LabVIEW. Experimental results also witnessed the trajectory tracking by the robotic platform.