2-DOF state control scheme for the motion control of a parallel kinematic machine

Mechatronic modeling of a parallel kinematics multi-axial simulation table based on decoupling the actuators and manipulator dynamics

“…Finally the actual joints positions are obtained and passed through the direct kinematic problem (DKP) to obtain the actual workspace positions X. Other control algorithms, such as Computed Torque Control and estimators-based controllers estimators-based controllers or computed torque control (CTC) can also be employed [21] and [22]. As an example, a simple scheme for the CTC case is shown in figure 3b.…”

Sliding Mode and Continuous Estimation Techniques for the Realization of Advanced Control Strategies for Parallel Kinematics

“…The subsequently presented estimation approach bases upon the one we already presented in Flottmeier et al [2013]. Here, the Kalman-Bucy filter is extended by a disturbance estimation part.…”

“…References for the application of more classical continuous estimation techniques applied for the solution of the DKP for PKMs are e.g. Fasse et al [2000] or Flottmeier et al [2013], where different Kalman filtering approaches are used. In Flottmeier et al [2013] it is shown, that a nonlinear observer model can be used with a constant observer gain matrix for the state estimation of a six DOF Steward platform, also called hexapod, despite the system's nonlinearities.…”

“…PKMs. Secondly, in terms of more classical approaches, the continuous Kalman filter, which has been presented in Flottmeier et al [2013], is extended for disturbance estimation. The feasibility of the proposed observers can be shown via various simulation results.…”

Simplified approach for dynamics estimation of a minor mobility parallel robot

“…Their simplification was carried on by specific simulations which allowed to separately consider the different terms of the dynamics model, similarly to what is experimentally done in the present work. These and many others have been the examples of dynamic control experiences on PKMs [26][27][28][29][30], denoting a significant and keen scientific interest on this topic.…”