Control of an Anthropomorphic Manipulator using LuGre Friction Model – Design and Experimental Validation

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/sl/article/control-of-an-anthropomorphic-manipulator-using-lugre-friction-model-design-and-experimental-evaluation/>. Date accessed: 19 apr. 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/sl/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/sl/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.  19 Apr. 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/sl/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/sl/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/sl/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)