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/sl/article/towards-sophisticated-control-of-robotic-manipulators-an-experimental-study-on-a-pseudo-industrial-arm/>. Date accessed: 20 dec. 2024. 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/sl/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/sl/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. 20 Dec. 2024
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/sl/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/sl/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/sl/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)
Strojniški vestnik - Journal of Mechanical Engineering 61(2015)7-8, 465-470
© The Authors, CC-BY 4.0 Int. Change in copyright policy from 2022, Jan 1st.
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.