Design and comparison of linear feedback control laws for inverse Kinematics based robotic arm

Haleema Asif; Ali Nasir; Umar T. Shami; Syed Tahir Hussain Rizvi; Muhammad Majid Gulzar

doi:10.1109/ICET.2017.8281705

Design and comparison of linear feedback control laws for inverse Kinematics based robotic arm

Haleema Asif
, Ali Nasir
, Umar T. Shami
, Syed Tahir Hussain Rizvi
, Muhammad Majid Gulzar^*

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

13 Scopus citations

Abstract

Accurate and precise control of a robotic arm involves two main issues. The first issue is to calculate the desired angular displacements of the robotic arm joints based on the desired position (in the Euclidian space) of the tip (or gripper) of the arm. The second issue is the design of an efficient and effective control law to achieve the desired angular displacements. This paper attempts to resolve both of the issues for a 2DOF robotic arm by using Inverse Kinematics and linear control law designs. In particular, Inverse Kinematics equations have been implemented on a commercial off the shelf robotic arm in order to calculate the desired angular displacements of the arm-joints. In order to achieve the desired angular displacement, various linear control laws have been designed using the robotic arm joint model. The performance of the designed control laws has been analyzed and compared. A comparison of the control torque required to achieve the performance of each control law is also presented.

Original language	English
Title of host publication	Proceedings - 2017 13th International Conference on Emerging Technologies, ICET2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1-6
Number of pages	6
ISBN (Electronic)	9781538622605
DOIs	https://doi.org/10.1109/ICET.2017.8281705
State	Published - 2 Jul 2017
Externally published	Yes
Event	13th International Conference on Emerging Technologies, ICET2017 - Islamabad, Pakistan Duration: 27 Dec 2017 → 28 Dec 2017

Publication series

Name	Proceedings - 2017 13th International Conference on Emerging Technologies, ICET2017
Volume	2018-January

Conference

Conference	13th International Conference on Emerging Technologies, ICET2017
Country/Territory	Pakistan
City	Islamabad
Period	27/12/17 → 28/12/17

Bibliographical note

Publisher Copyright:
© 2017 IEEE.

Keywords

Feedback control
Inverse Kinematic
LQR
PID
Robotic Arm

ASJC Scopus subject areas

Artificial Intelligence
Computer Networks and Communications
Computer Science Applications
Control and Optimization
Computer Vision and Pattern Recognition

Access to Document

10.1109/ICET.2017.8281705

Cite this

Asif, H., Nasir, A., Shami, U. T., Rizvi, S. T. H., & Gulzar, M. M. (2017). Design and comparison of linear feedback control laws for inverse Kinematics based robotic arm. In Proceedings - 2017 13th International Conference on Emerging Technologies, ICET2017 (pp. 1-6). (Proceedings - 2017 13th International Conference on Emerging Technologies, ICET2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICET.2017.8281705

Asif, Haleema ; Nasir, Ali ; Shami, Umar T. et al. / Design and comparison of linear feedback control laws for inverse Kinematics based robotic arm. Proceedings - 2017 13th International Conference on Emerging Technologies, ICET2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 1-6 (Proceedings - 2017 13th International Conference on Emerging Technologies, ICET2017).

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title = "Design and comparison of linear feedback control laws for inverse Kinematics based robotic arm",

abstract = "Accurate and precise control of a robotic arm involves two main issues. The first issue is to calculate the desired angular displacements of the robotic arm joints based on the desired position (in the Euclidian space) of the tip (or gripper) of the arm. The second issue is the design of an efficient and effective control law to achieve the desired angular displacements. This paper attempts to resolve both of the issues for a 2DOF robotic arm by using Inverse Kinematics and linear control law designs. In particular, Inverse Kinematics equations have been implemented on a commercial off the shelf robotic arm in order to calculate the desired angular displacements of the arm-joints. In order to achieve the desired angular displacement, various linear control laws have been designed using the robotic arm joint model. The performance of the designed control laws has been analyzed and compared. A comparison of the control torque required to achieve the performance of each control law is also presented.",

keywords = "Feedback control, Inverse Kinematic, LQR, PID, Robotic Arm",

author = "Haleema Asif and Ali Nasir and Shami, \{Umar T.\} and Rizvi, \{Syed Tahir Hussain\} and Gulzar, \{Muhammad Majid\}",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 13th International Conference on Emerging Technologies, ICET2017 ; Conference date: 27-12-2017 Through 28-12-2017",

year = "2017",

month = jul,

day = "2",

doi = "10.1109/ICET.2017.8281705",

language = "English",

series = "Proceedings - 2017 13th International Conference on Emerging Technologies, ICET2017",

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Asif, H, Nasir, A, Shami, UT, Rizvi, STH & Gulzar, MM 2017, Design and comparison of linear feedback control laws for inverse Kinematics based robotic arm. in Proceedings - 2017 13th International Conference on Emerging Technologies, ICET2017. Proceedings - 2017 13th International Conference on Emerging Technologies, ICET2017, vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 1-6, 13th International Conference on Emerging Technologies, ICET2017, Islamabad, Pakistan, 27/12/17. https://doi.org/10.1109/ICET.2017.8281705

Design and comparison of linear feedback control laws for inverse Kinematics based robotic arm. / Asif, Haleema; Nasir, Ali; Shami, Umar T. et al.
Proceedings - 2017 13th International Conference on Emerging Technologies, ICET2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 1-6 (Proceedings - 2017 13th International Conference on Emerging Technologies, ICET2017; Vol. 2018-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Asif, Haleema

AU - Nasir, Ali

AU - Shami, Umar T.

AU - Rizvi, Syed Tahir Hussain

AU - Gulzar, Muhammad Majid

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AB - Accurate and precise control of a robotic arm involves two main issues. The first issue is to calculate the desired angular displacements of the robotic arm joints based on the desired position (in the Euclidian space) of the tip (or gripper) of the arm. The second issue is the design of an efficient and effective control law to achieve the desired angular displacements. This paper attempts to resolve both of the issues for a 2DOF robotic arm by using Inverse Kinematics and linear control law designs. In particular, Inverse Kinematics equations have been implemented on a commercial off the shelf robotic arm in order to calculate the desired angular displacements of the arm-joints. In order to achieve the desired angular displacement, various linear control laws have been designed using the robotic arm joint model. The performance of the designed control laws has been analyzed and compared. A comparison of the control torque required to achieve the performance of each control law is also presented.

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ER -

Asif H, Nasir A, Shami UT, Rizvi STH, Gulzar MM. Design and comparison of linear feedback control laws for inverse Kinematics based robotic arm. In Proceedings - 2017 13th International Conference on Emerging Technologies, ICET2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 1-6. (Proceedings - 2017 13th International Conference on Emerging Technologies, ICET2017). doi: 10.1109/ICET.2017.8281705

Design and comparison of linear feedback control laws for inverse Kinematics based robotic arm

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this