CPG-Based Industrial Manipulators on AVR System for PTP Applications

This paper intends to develop a cost-effective model of industrial manipulators on AVR system, which incorporates high-precision and real-time trajectory transition to perform repetitive Point-to-Point (PTP) tasks. We opt for Central Pattern Generator (CPG), a bio-inspired network that generates rhy...

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Bibliographic Details
Published in2019 International Conference on Electrical, Computer and Communication Engineering (ECCE) pp. 1 - 6
Main Authors Alam, Asraful, Islam, Hobaibul, Islam, Mohammad Tausiful, Rashid, S. M. Zia Ur, Hossen, Md Jonayed, Mahmud, Md Sultan
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.02.2019
Subjects
AVR
Central pattern generator
Industrial robot
Manipulators
Mathematical model
Oscillators
Point to point task
Real-time systems
Task analysis
Trajectory
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Summary:This paper intends to develop a cost-effective model of industrial manipulators on AVR system, which incorporates high-precision and real-time trajectory transition to perform repetitive Point-to-Point (PTP) tasks. We opt for Central Pattern Generator (CPG), a bio-inspired network that generates rhythmic trajectories without the aid of any sensory feedback. To implement this controller in AVR system, we have proposed an AVR compatible model of CPG; a custom cosine function is designed for numerical efficiency, and several techniques are outlined to ease implementation. A simulation is carried out on three degrees of freedom (DOF) manipulator as an exponent of effectiveness of the proposed methods. From simulation result, it appears that the robot generates smooth and precise trajectories in Cartesian space and has no problem dealing with either random perturbations or abrupt changes in control parameters.
DOI:10.1109/ECACE.2019.8679138