Dynamic modeling and control of high-speed parallel manipulators are of importance due to their industrial applications deployed in production lines. However, there are still a number of open problems, such as the development of a precise dynamic model to be used in the model-based control design. This paper presents a four-limb parallel manipulator with Schönflies motion and its simplified dynamic modeling process. Then, in order to fix the issue that computed torque method control (CTC) will spend a lot of time to calculate dynamic parameters in real-time, offline torque feedforwardbased PD (TFPD) control law is adopted in the control system. At the same time, fuzzy logic is also used to tune the gains of PD controller to adapt to the variation of external disturbance and compensate the un-modeled uncertainty. Additionally, bottom widths of membership functions of fuzzy controller are optimized by bat algorithm. Finally, three controllers of CTC, TFPD and bat algorithm-based torque feedforwad fuzzy PD controller (BA-TFFPD) are compared in trajectory tracking simulation. Fro the result, compared with TFPD and CTC, BA-TFFPD can lead faster transient response and lower tracking error, which prove the validity of BA-TFFPD.
In robotic applications, an efficient path planning in a prescribed environment is the central issue, which is a challenging task for multiple degree-of-freedom articulated robotic arms. In this light, the path planning for robotic manipulators based on the combined artificial potential field method and bidirectional rapidly exploring random tree (BiRRT-APF) algorithm is proposed in this paper, aiming to handle the problems of highly possible randomness and low search efficiency. In order to improve the attraction function to speed up the efficiency of searching path, the characteristics of the Bi-RRT algorithm (i.e., bi-directional growth of random trees), is integrated to reduce the search time. Subsequently, a path construction strategy is proposed to remove the redundant nodes of the path, for the increased smoothness of the path and reduced memory storages of the algorithm. The effectiveness of the proposed path planning algorithm is illustrated with a 5-dof robotic arm, and is verified with MATLABTM and CoppeliaSimTM co-simulation, through a comparative study among different algorithms. The results show that the proposed BiRRT-APF algorithm can decrease the randomness of node growth and reduce the number of algorithm iterations, resulting in faster convergence of a smooth path for reduced computational burden.
Dynamic modeling and control of high-speed parallel manipulators are of importance due to their industrial applications deployed in production lines. However, there are still a number of open problems, such as the development of a precise dynamic model to be used in the model-based control design. This paper presents a four-limb parallel manipulator with Schönflies motion and its simplified dynamic modeling process. Then, in order to fix the issue that computed torque method control (CTC) will spend a lot of time to calculate dynamic parameters in real-time, offline torque feedforwardbased PD (TFPD) control law is adopted in the control system. At the same time, fuzzy logic is also used to tune the gains of PD controller to adapt to the variation of external disturbance and compensate the un-modeled uncertainty. Additionally, bottom widths of membership functions of fuzzy controller are optimized by bat algorithm. Finally, three controllers of CTC, TFPD and bat algorithm-based torque feedforwad fuzzy PD controller (BA-TFFPD) are compared in trajectory tracking simulation. Fro the result, compared with TFPD and CTC, BA-TFFPD can lead faster transient response and lower tracking error, which prove the validity of BA-TFFPD.
The Springer Proceedings in Advanced Robotics (SPAR) publishes new developments and advances in the fields of robotics research, rapidly and informally but with a high quality.The intent is to cover all the technical contents, applications, and multidisciplinary aspects of robotics, embedded in the fields of Mechanical Engineering, Computer Science, Electrical Engineering, Mechatronics, Control, and Life Sciences, as well as the methodologies behind them.The publications within the "Springer Proceedings in Advanced Robotics" are primarily proceedings and post-proceedings of important conferences, symposia and congresses. They cover significant recent developments in the field, both of a foundational and applicable character. Also considered for publication are edited monographs, contributed volumes and lecture notes of exceptionally high quality and interest.An important characteristic feature of the series is the short publication time and world-wide distribution. This permits a rapid and broad dissemination of research results.
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