{"title":"Dynamic Analysis and Control of Redundant Manipulator for Agricultural Applications in a Virtual Environment","authors":"A. Reddy, V. V. M. J. S. Chembuly, V. Rao","doi":"10.33889/ijmems.2023.8.4.041","DOIUrl":null,"url":null,"abstract":"In the development of automated manipulators for fruit and vegetable picking technologies, the challenge of ensuring an efficient, stable, and loss-free picking process has been a complex problem. In such an environment, manipulators require the most efficient and robust control for effective operations. In this paper, a serial 9-DOF redundant manipulator (1P8R) is proposed with various controllers for trajectory tracking problems in agricultural applications. The dynamic analysis of redundant manipulator has been carried out using the Recursive Newton-Euler method. The joint configurations of the robot are determined using optimization techniques for specific Task Space Locations (TSLs) by avoiding obstacles. The process of generating joint trajectories has been implemented by considering the cubic polynomial function. For the task of controlling the robot trajectory tracking in the virtual agricultural environment, different combinations of Proportional (P), Integrative (I), Derivative (D), and Feed-Forward (FF) controllers are employed, and a comparative analysis has been performed among these controllers. To verify the performance of the manipulator, simulations are carried out in a virtual environment using Simulink software. Results show that the robot is able to reach specific TSL accurately with better control and it is found that the implementation of Feed-Forward and PID-CTC controllers has better performance in a complex environment.","PeriodicalId":44185,"journal":{"name":"International Journal of Mathematical Engineering and Management Sciences","volume":null,"pages":null},"PeriodicalIF":1.3000,"publicationDate":"2023-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Mathematical Engineering and Management Sciences","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.33889/ijmems.2023.8.4.041","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ENGINEERING, MULTIDISCIPLINARY","Score":null,"Total":0}
引用次数: 0
Abstract
In the development of automated manipulators for fruit and vegetable picking technologies, the challenge of ensuring an efficient, stable, and loss-free picking process has been a complex problem. In such an environment, manipulators require the most efficient and robust control for effective operations. In this paper, a serial 9-DOF redundant manipulator (1P8R) is proposed with various controllers for trajectory tracking problems in agricultural applications. The dynamic analysis of redundant manipulator has been carried out using the Recursive Newton-Euler method. The joint configurations of the robot are determined using optimization techniques for specific Task Space Locations (TSLs) by avoiding obstacles. The process of generating joint trajectories has been implemented by considering the cubic polynomial function. For the task of controlling the robot trajectory tracking in the virtual agricultural environment, different combinations of Proportional (P), Integrative (I), Derivative (D), and Feed-Forward (FF) controllers are employed, and a comparative analysis has been performed among these controllers. To verify the performance of the manipulator, simulations are carried out in a virtual environment using Simulink software. Results show that the robot is able to reach specific TSL accurately with better control and it is found that the implementation of Feed-Forward and PID-CTC controllers has better performance in a complex environment.
期刊介绍:
IJMEMS is a peer reviewed international journal aiming on both the theoretical and practical aspects of mathematical, engineering and management sciences. The original, not-previously published, research manuscripts on topics such as the following (but not limited to) will be considered for publication: *Mathematical Sciences- applied mathematics and allied fields, operations research, mathematical statistics. *Engineering Sciences- computer science engineering, mechanical engineering, information technology engineering, civil engineering, aeronautical engineering, industrial engineering, systems engineering, reliability engineering, production engineering. *Management Sciences- engineering management, risk management, business models, supply chain management.