658 KB21 KB199920252015Iqbal, JamshedIrfan, MuhammadKhan, Abdul AttayyabUllah, Muhammad Imranletnik:61številka:7/8str. 465-470, SI 83ISSN:0039-2480COBISSID:14101275URN:URN:NBN:SI:doc-HACWJW4CenZveza strojnih inženirjev in tehnikov Slovenije et al.Strojniški vestnikindustrijski robotikrmiljenje z variabilno strukturo (VSC)manipulatorjiračunsko krmiljenje navora (CTC)robotsko krmiljenjerobustni zakonišest prostostnih stopenjTowards sophisticated control of robotic manipulators| an experimental study on a pseudo-industrial arm|Robotic manipulators have reshaped industrial processes. The scientific community has witnessed an ever increasing trend in robots deployed to accomplish various tasks in industry. The complex nature and constrained requirements of robots may demand non-trivial control approaches. This paper deals with the 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 degrees 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 a simulation to characterize the tracking performance. The simulation results were then validated by implementing control laws on a custom-developed pseudo-industrial autonomous articulated robotic educational platform (AUTAREP). The experimental results show the effectiveness of the control strategies to track a desired trajectoryRobotski manipulatorji so preoblikovali industrijske procese. Znanstvena sfera je bila priča trendu uvajanja robotov v različne industrijske naloge. Zaradi kompleksne narave in omejitev so pogosto potrebni netrivialni pristopi h krmiljenju robotov. Namen te raziskave je preučitev zasnove, simulacija in hardverska realizacija strategij krmiljenja na psevdoindustrijskem manipulatorju s šestimi prostostnimi stopnjami (DOF). Pri preučevanju manipulatorjev za razne aplikacije se je izkazala potreba po dovršenih algoritmih za krmiljenje in načrtovanje trajektorij. Cilj pri snovanju robotskih manipulatorjev je krmiljenje položaja in orientacije orodja v 3D-prostoru. Na avtonomni robotski izobraževalni platformi AUTAREP sta bila uporabljena dva pristopa k snovanju krmiljenja % računsko krmiljenje navora (CTC) in krmiljenje z variabilno strukturo (VSC)TEXTznanstveno časopisjejournalsSlovenian National E-content AggregatorNational and University Library of SloveniaUniverza v Ljubljani, Fakulteta za strojništvo