مخطط الموضوع

  • Information

    طي الكل توسيع الكل

    Titre du matière :Manipulator robot control

    Faculté : Technologie

    Département : Electrical Engineering 

    Cycle : 2èr année Master. Automatique et systèmes

    Semestre : 1

    Crédits : 3

    Coefficients : 3

    Volume : 3h00

    Enseignant :Mohammed Khodja

    Email : mohamedabdellah.khodja@univ-msila.dz.



  • Questions about the course


    The course intends to deliver the fundamentals of modeling and control of manipulator robots

  • Objectifs

    Acquainting with control plants models (continuous and discrete-time) . Developing the ability to use simulation software for the analysis and synthesis of control systems in the state space.

  • Chapter 1

    0.1 Introduction In these last years, a growing interest has been shown in robotics. In fact, several industries (automotive, medical, manufacturing, space, . . . ), require robots to replace human in dangerous, boring or onerous situations. For example we cannot replace welding robot by human in repetitive jobs that are boring, stressful, or labor intensive for humans. Also cleaning the main circulating pump in the nuclear power plant which this task is dangerous for human. Some important task need aerial robot or unmanned aerial vehicle, as wildfire mapping, agriculture monitoring, oil and gas exploration, …etc. for those importance we are interest in this thesis by two type of robot the first Quadcopter which is kind of unmanned aerial vehicle. The second PUMA560 manipulator robot. Basic knowledge for robotics design are; dynamics modeling, sensors, actuators, microcontroller, microprocessor and programing language. The advance in technology the use of the control theory more important, for that great research progress in control theory during last decades. Lot of approach and strategies proposed by researchers in most simple controller (PID) to most complex controller theory. The PID controller is simplest and oldest control theory and the most widely used controller in process control until today. A PID is widely used in control of linear or nonlinear systems. The PID it is an important’ part in every engineering control tools. The most popular of Unmanned Arial Vehicles is the quadrotor. Because of its ability to perform agile manoeuvres, take-off , land vertically, and hover. However, it is difficult to model [1][2] complex and suitable quadrotor control systems. Many control methods, such as fractional sliding mode [3], backstepping [4], nonlinear proportional-integral-derivative (PID) [5], sliding model controllers [6], and fuzzy PID [7], have been studied. The simplest control method among these is the PID controller [8] because of its low program complexity, low processing speed, and small program size, occupying little memory. Therefore, the PID can be implemented in a low-cost microcontroller.

    The control and simulation of robots requires the development of different mathematical models. Several levels of modeling –geometric, kinematic and dynamic- are needed depending on the objectives, the constraints of the task and the desired performance. Obtaining these models is not an easy task. The difficulty varies according to the complexity of the kinematics of the mechanical structure and its degrees of freedom. For that we take the dynamic model of PUMA560 from [24]. This chapter shows some mathematical tools witch using for modeling robot, the aim of modeling to simplifies and estimates the values of the geometric and dynamic parameters of the robot. Besides to find a control law on robot controller with reduced number of operations.

  • Chapter 2


  • Chapter 3



  • References