Towards Sophisticated Control of Robotic Manipulators: An Experimental Study on a Pseudo-Industrial Arm

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IQBAL, Jamshed ;ULLAH, Muhammad Imran;KHAN, Abdul Attayyab;IRFAN, Muhammad .
Towards Sophisticated Control of Robotic Manipulators: An Experimental Study on a Pseudo-Industrial Arm. 
Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 61, n.7-8, p. 465-470, june 2018. 
ISSN 0039-2480.
Available at: <https://www.sv-jme.eu/article/towards-sophisticated-control-of-robotic-manipulators-an-experimental-study-on-a-pseudo-industrial-arm/>. Date accessed: 09 dec. 2021. 
doi:http://dx.doi.org/10.5545/sv-jme.2015.2511.
Iqbal, J., Ullah, M., Khan, A., & Irfan, M.
(2015).
Towards Sophisticated Control of Robotic Manipulators: An Experimental Study on a Pseudo-Industrial Arm.
Strojniški vestnik - Journal of Mechanical Engineering, 61(7-8), 465-470.
doi:http://dx.doi.org/10.5545/sv-jme.2015.2511
@article{sv-jmesv-jme.2015.2511,
	author = {Jamshed  Iqbal and Muhammad Imran Ullah and Abdul Attayyab Khan and Muhammad  Irfan},
	title = {Towards Sophisticated Control of Robotic Manipulators: An Experimental Study on a Pseudo-Industrial Arm},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {61},
	number = {7-8},
	year = {2015},
	keywords = {robot control; manipulator; robust laws; industrial robots},
	abstract = {Robotic manipulators have reshaped industrial processes. Scientific community has witnessed ever increasing trend to deploy robots to accomplish various tasks in industry. Complex nature and constrained requirements of these tasks may demand going beyond trivial control approaches. This paper deals with design, simulation and hardware realization of two sophisticated control strategies; Computed Torque Control (CTC) and Variable Structure Control (VSC) on a pseudo-industrial manipulator with six Degree Of Freedom (DOF). Based on the derived kinematic and dynamic models of the robot, control laws have been formulated, which are then subjected to various test inputs in simulation to characterize the tracking performance. The simulation results are then validated by implementing control laws on custom-developed pseudo-industrial AUTonomous Articulated Robotic Educational Platform (AUTAREP). Experimental results dictate effectiveness of the control strategies to track a desired trajectory.},
	issn = {0039-2480},	pages = {465-470},	doi = {10.5545/sv-jme.2015.2511},
	url = {https://www.sv-jme.eu/article/towards-sophisticated-control-of-robotic-manipulators-an-experimental-study-on-a-pseudo-industrial-arm/}
}
Iqbal, J.,Ullah, M.,Khan, A.,Irfan, M.
2015 June 61. Towards Sophisticated Control of Robotic Manipulators: An Experimental Study on a Pseudo-Industrial Arm. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 61:7-8
%A Iqbal, Jamshed 
%A Ullah, Muhammad Imran
%A Khan, Abdul Attayyab
%A Irfan, Muhammad 
%D 2015
%T Towards Sophisticated Control of Robotic Manipulators: An Experimental Study on a Pseudo-Industrial Arm
%B 2015
%9 robot control; manipulator; robust laws; industrial robots
%! Towards Sophisticated Control of Robotic Manipulators: An Experimental Study on a Pseudo-Industrial Arm
%K robot control; manipulator; robust laws; industrial robots
%X Robotic manipulators have reshaped industrial processes. Scientific community has witnessed ever increasing trend to deploy robots to accomplish various tasks in industry. Complex nature and constrained requirements of these tasks may demand going beyond trivial control approaches. This paper deals with design, simulation and hardware realization of two sophisticated control strategies; Computed Torque Control (CTC) and Variable Structure Control (VSC) on a pseudo-industrial manipulator with six Degree Of Freedom (DOF). Based on the derived kinematic and dynamic models of the robot, control laws have been formulated, which are then subjected to various test inputs in simulation to characterize the tracking performance. The simulation results are then validated by implementing control laws on custom-developed pseudo-industrial AUTonomous Articulated Robotic Educational Platform (AUTAREP). Experimental results dictate effectiveness of the control strategies to track a desired trajectory.
%U https://www.sv-jme.eu/article/towards-sophisticated-control-of-robotic-manipulators-an-experimental-study-on-a-pseudo-industrial-arm/
%0 Journal Article
%R 10.5545/sv-jme.2015.2511
%& 465
%P 6
%J Strojniški vestnik - Journal of Mechanical Engineering
%V 61
%N 7-8
%@ 0039-2480
%8 2018-06-27
%7 2018-06-27
Iqbal, Jamshed, Muhammad Imran Ullah, Abdul Attayyab Khan, & Muhammad  Irfan.
"Towards Sophisticated Control of Robotic Manipulators: An Experimental Study on a Pseudo-Industrial Arm." Strojniški vestnik - Journal of Mechanical Engineering [Online], 61.7-8 (2015): 465-470. Web.  09 Dec. 2021
TY  - JOUR
AU  - Iqbal, Jamshed 
AU  - Ullah, Muhammad Imran
AU  - Khan, Abdul Attayyab
AU  - Irfan, Muhammad 
PY  - 2015
TI  - Towards Sophisticated Control of Robotic Manipulators: An Experimental Study on a Pseudo-Industrial Arm
JF  - Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2015.2511
KW  - robot control; manipulator; robust laws; industrial robots
N2  - Robotic manipulators have reshaped industrial processes. Scientific community has witnessed ever increasing trend to deploy robots to accomplish various tasks in industry. Complex nature and constrained requirements of these tasks may demand going beyond trivial control approaches. This paper deals with design, simulation and hardware realization of two sophisticated control strategies; Computed Torque Control (CTC) and Variable Structure Control (VSC) on a pseudo-industrial manipulator with six Degree Of Freedom (DOF). Based on the derived kinematic and dynamic models of the robot, control laws have been formulated, which are then subjected to various test inputs in simulation to characterize the tracking performance. The simulation results are then validated by implementing control laws on custom-developed pseudo-industrial AUTonomous Articulated Robotic Educational Platform (AUTAREP). Experimental results dictate effectiveness of the control strategies to track a desired trajectory.
UR  - https://www.sv-jme.eu/article/towards-sophisticated-control-of-robotic-manipulators-an-experimental-study-on-a-pseudo-industrial-arm/
@article{{sv-jme}{sv-jme.2015.2511},
	author = {Iqbal, J., Ullah, M., Khan, A., Irfan, M.},
	title = {Towards Sophisticated Control of Robotic Manipulators: An Experimental Study on a Pseudo-Industrial Arm},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {61},
	number = {7-8},
	year = {2015},
	doi = {10.5545/sv-jme.2015.2511},
	url = {https://www.sv-jme.eu/article/towards-sophisticated-control-of-robotic-manipulators-an-experimental-study-on-a-pseudo-industrial-arm/}
}
TY  - JOUR
AU  - Iqbal, Jamshed 
AU  - Ullah, Muhammad Imran
AU  - Khan, Abdul Attayyab
AU  - Irfan, Muhammad 
PY  - 2018/06/27
TI  - Towards Sophisticated Control of Robotic Manipulators: An Experimental Study on a Pseudo-Industrial Arm
JF  - Strojniški vestnik - Journal of Mechanical Engineering; Vol 61, No 7-8 (2015): Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2015.2511
KW  - robot control, manipulator, robust laws, industrial robots
N2  - Robotic manipulators have reshaped industrial processes. Scientific community has witnessed ever increasing trend to deploy robots to accomplish various tasks in industry. Complex nature and constrained requirements of these tasks may demand going beyond trivial control approaches. This paper deals with design, simulation and hardware realization of two sophisticated control strategies; Computed Torque Control (CTC) and Variable Structure Control (VSC) on a pseudo-industrial manipulator with six Degree Of Freedom (DOF). Based on the derived kinematic and dynamic models of the robot, control laws have been formulated, which are then subjected to various test inputs in simulation to characterize the tracking performance. The simulation results are then validated by implementing control laws on custom-developed pseudo-industrial AUTonomous Articulated Robotic Educational Platform (AUTAREP). Experimental results dictate effectiveness of the control strategies to track a desired trajectory.
UR  - https://www.sv-jme.eu/article/towards-sophisticated-control-of-robotic-manipulators-an-experimental-study-on-a-pseudo-industrial-arm/
Iqbal, Jamshed, Ullah, Muhammad, Khan, Abdul, AND Irfan, Muhammad.
"Towards Sophisticated Control of Robotic Manipulators: An Experimental Study on a Pseudo-Industrial Arm" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 61 Number 7-8 (27 June 2018)

Authors

Affiliations

  • National University of Computer and Emerging Sciences, Department of Electrical Engineering, Pakistan 1
  • COMSATS Institute of Information Technology, Department of Electrical Engineering, Pakistan 2
  • University of Genova, DIBRIS, Italy 3
  • University of Engineering and Technology, Department of Electrical Engineering, Pakistan 4

Paper's information

Strojniški vestnik - Journal of Mechanical Engineering 61(2015)7-8, 465-470

https://doi.org/10.5545/sv-jme.2015.2511

Robotic manipulators have reshaped industrial processes. Scientific community has witnessed ever increasing trend to deploy robots to accomplish various tasks in industry. Complex nature and constrained requirements of these tasks may demand going beyond trivial control approaches. This paper deals with design, simulation and hardware realization of two sophisticated control strategies; Computed Torque Control (CTC) and Variable Structure Control (VSC) on a pseudo-industrial manipulator with six Degree Of Freedom (DOF). Based on the derived kinematic and dynamic models of the robot, control laws have been formulated, which are then subjected to various test inputs in simulation to characterize the tracking performance. The simulation results are then validated by implementing control laws on custom-developed pseudo-industrial AUTonomous Articulated Robotic Educational Platform (AUTAREP). Experimental results dictate effectiveness of the control strategies to track a desired trajectory.

robot control; manipulator; robust laws; industrial robots