In this paper, a new position domain synchronization control (PDSC) law is proposed for contour control of multi-DOF nonlinear robotic manipulators with the main goal of improving contour tracking performance. The robotic manipulator is treated as a master-slave motion system, where the position of the master motion is used as an independent reference via equidistant sampling, and the slave motions are described as functions of the master motion. To build this relationship, the dynamics of the original system is transformed from time domain to position domain. The new control introduces synchronization and coupled errors in the control law to further coordinate the master and slave motions. Stability analysis is performed based on the Lyapunov method for the proposed PDSC, and simulations are conducted to verify the effectiveness of the developed control system.
Skip Nav Destination
Article navigation
March 2014
Research-Article
Position Domain Synchronization Control of Multi-Degrees of Freedom Robotic Manipulator
P. R. Ouyang,
P. R. Ouyang
Associate Professor
Mem. ASME
Department of Aerospace Engineering,
e-mail: pouyang@ryerson.ca
Mem. ASME
Department of Aerospace Engineering,
Ryerson University
,350 Victoria Street
,Toronto, ON, M5B 2K3
, Canada
e-mail: pouyang@ryerson.ca
Search for other works by this author on:
V. Pano
V. Pano
Department of Aerospace Engineering,
e-mail: vpano@ryerson.ca
Ryerson University
,350 Victoria Street
,Toronto, ON, M5B 2K3
, Canada
e-mail: vpano@ryerson.ca
Search for other works by this author on:
P. R. Ouyang
Associate Professor
Mem. ASME
Department of Aerospace Engineering,
e-mail: pouyang@ryerson.ca
Mem. ASME
Department of Aerospace Engineering,
Ryerson University
,350 Victoria Street
,Toronto, ON, M5B 2K3
, Canada
e-mail: pouyang@ryerson.ca
V. Pano
Department of Aerospace Engineering,
e-mail: vpano@ryerson.ca
Ryerson University
,350 Victoria Street
,Toronto, ON, M5B 2K3
, Canada
e-mail: vpano@ryerson.ca
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received April 19, 2013; final manuscript received October 16, 2013; published online December 16, 2013. Assoc. Editor: Alexander Leonessa.
J. Dyn. Sys., Meas., Control. Mar 2014, 136(2): 021017 (13 pages)
Published Online: December 16, 2013
Article history
Received:
April 19, 2013
Revision Received:
October 16, 2013
Citation
Ouyang, P. R., and Pano, V. (December 16, 2013). "Position Domain Synchronization Control of Multi-Degrees of Freedom Robotic Manipulator." ASME. J. Dyn. Sys., Meas., Control. March 2014; 136(2): 021017. https://doi.org/10.1115/1.4025755
Download citation file:
Get Email Alerts
Fault detection of automotive engine system based on Canonical Variate Analysis combined with Bhattacharyya Distance
J. Dyn. Sys., Meas., Control
Multi Combustor Turbine Engine Acceleration Process Control Law Design
J. Dyn. Sys., Meas., Control (July 2025)
Related Articles
Synchronization and Antisynchronization of a Class of Chaotic Systems With Nonidentical Orders and Uncertain Parameters
J. Comput. Nonlinear Dynam (January,2015)
Synchronizing Tracking Control for Flexible Joint Robots via Estimated State Feedback
J. Dyn. Sys., Meas., Control (March,2004)
A Novel Input–Output Linearization Minimum Sliding Mode Error Feedback Control for Synchronization of FitzHugh–Nagumo Neurons
J. Comput. Nonlinear Dynam (July,2016)
Adaptive Synchronized Control for a Planar Parallel Manipulator: Theory and Experiments
J. Dyn. Sys., Meas., Control (December,2006)
Related Proceedings Papers
Related Chapters
QP Based Encoder Feedback Control
Robot Manipulator Redundancy Resolution
Study of Metro Station Gathering and Distributing Capacity Based on Hybrid Petri Net
International Conference on Information Technology and Management Engineering (ITME 2011)
The Research and Simulation of Synchronization Algorithms of GBPS Parallel Digital Receiver
International Conference on Instrumentation, Measurement, Circuits and Systems (ICIMCS 2011)