TY - GEN
T1 - Trajectory Tracking Control of UR5 Robot
T2 - 4th International Conference on Control, Automation and Diagnosis, ICCAD 2020
AU - Charaja, Jhon
AU - Munoz-Panduro, Emanuel
AU - Ramos, Oscar E.
AU - Canahuire, Ruth
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/10
Y1 - 2020/10
N2 - Good trajectory tracking and fast convergence are critical characteristics on medical and industrial applications. This behavior must be ensured despite the presence of disturbances to successfully complete the task. This work presents the design and robustness comparison of two control approaches computationally implemented on UR5 robot for trajectory tracking. The control methods that will be compared are proportional-derivative control with gravity compensation and sliding mode control. Both control methods will be designed to ensure stability and good tracking of circular helicoidal trajectory on the operational space. In order to evaluate the robustness of both control methods, a controlled white-noise signal will be added to robot model. The obtained results indicate that sliding mode control deals better with external disturbances than proportional-derivative control with gravity compensation.
AB - Good trajectory tracking and fast convergence are critical characteristics on medical and industrial applications. This behavior must be ensured despite the presence of disturbances to successfully complete the task. This work presents the design and robustness comparison of two control approaches computationally implemented on UR5 robot for trajectory tracking. The control methods that will be compared are proportional-derivative control with gravity compensation and sliding mode control. Both control methods will be designed to ensure stability and good tracking of circular helicoidal trajectory on the operational space. In order to evaluate the robustness of both control methods, a controlled white-noise signal will be added to robot model. The obtained results indicate that sliding mode control deals better with external disturbances than proportional-derivative control with gravity compensation.
KW - PD with gravity compensation
KW - manipulator robot
KW - sliding mode control
KW - trajectory tracking
UR - http://www.scopus.com/inward/record.url?scp=85098523614&partnerID=8YFLogxK
U2 - 10.1109/ICCAD49821.2020.9260559
DO - 10.1109/ICCAD49821.2020.9260559
M3 - Conference contribution
AN - SCOPUS:85098523614
T3 - 2020 International Conference on Control, Automation and Diagnosis, ICCAD 2020 - Proceedings
BT - 2020 International Conference on Control, Automation and Diagnosis, ICCAD 2020 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 7 October 2020 through 9 October 2020
ER -