A comparison study of some control methods for delta spatial parallel robot

Khang, Nguyễn Văn; Hoang, Nguyen Quang; Sang, Nguyen Duc; Dũng, Nguyễn Tiến

doi:10.15625/1813-9663/31/1/5088

Cited by 6 publications

(5 citation statements)

References 15 publications

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“…x -coordinates of moving platform and -auxiliary joint variables. The establishment of equations of motion for this system has been presented in numerous references [1,6,14,19,20]. With Lagrangian multipliers the differential equations of motion for the system are written in the following form:…”

Section: Dynamic Model Of Parallel Robot Driven By Electric Motorsmentioning

confidence: 99%

“…K K K are selected as the diagonal one, from (14) we obtain the third order linear differential equations as follows…”

Section: P Imentioning

confidence: 99%

“…Similar to serial robots, there are several control laws designed for parallel robots [11][12][13][14][15][16][17] such as: proportional-derivative controller (PD) plus gravity compensation, exact linearization, sliding mode control, adaptive control, fuzzy control, neural networks based control, etc. These controllers often require the feedback of all generalized coordinates and their derivatives.…”

Section: Introductionmentioning

confidence: 99%

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Controller Design Based on a Kinematic Estimator for a 3rrr Planar Parallel Robot Driven by Electric Motors

Hoang

2020

JST

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The control of parallel robotic manipulator requires feedbacks of all the redundant coordinates and their derivatives. In practice, to have all feedback variables for the controller, a robot needs more sensors than its degree of freedom. These sensors measure not only the actuated joint variables, but also the auxiliary variables, position and velocity of the moving platform. In this paper, a novel method is introduced to estimate dependently generalized coordinates and motion of the moving platform. A kinematic error feedback technique is exploited to ensure the estimated motion converge to the actual motion of the robot.

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Section: Dynamic Model Of Parallel Robot Driven By Electric Motorsmentioning

confidence: 99%

“…K K K are selected as the diagonal one, from (14) we obtain the third order linear differential equations as follows…”

Section: P Imentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Controller Design Based on a Kinematic Estimator for a 3rrr Planar Parallel Robot Driven by Electric Motors

Hoang

2020

JST

Self Cite

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“…In most applications, the robot must move rapidly from one position to another position or follow a desired trajectory in three dimensional spaces with high precision. In order to perform this task, recently, several control methods have been investigated such as computed torque with PD, PID controller [3][4][5][6][7][8][9]. The computed torque…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modelling of 3-RUS Spatial Parallel Robot Manipulator

Quang¹,

Quyền²,

Hai³

et al. 2020

Review of Computer Engineering Research

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Parallel manipulators are characterized as having closed-loop kinematic chains. Parallel robots have received increasing attention due to their inherent advantages over conventional serial mechanism, such as high rigidity, high load capacity, high velocity, and high precision. A definite advantage of parallel robots is the fact that, in most cases, actuators can be placed on the truss, thus achieving a limited weight for the moving parts, which makes it possible for parallel robots to move at a high speed. These advantages avoid the drawbacks on serial ones and make the mobile platforms of the parallel manipulators carry out higher performances. Therefore, parallel manipulators have been applied to the industrial manufacturing, flight simulation, medical resuscitation, and so on. The basis for model-based control of parallel manipulators is an efficient formulation of the motion equations. In this paper a formulation of the motion equations in redundant coordinates is presented for parallel manipulators. The fully coupled non-linear equations of motion of 3-RUS spatial parallel manipulator having 3 DOF with Revolute-Universal-Spherical joints are obtained by using the Lagrange equations with multipliers for constrained multibody systems. Contribution/Originality: This paper presented the modelling of motion for 3-RUS spatial parallel manipulator by using the redundant generalized coordinates and the Lagrangian multipliers. A novel formulation of Coriolis/centrifugal matrix is constructed directly in matrix based manner by using Kronecker product. The skew symmetry property of dynamic model of robot manipulators is guaranteed by the proposed Coriolis/centrifugal matrix. Then, the equations of motion in DAEs form were transformed to ordinary differential equations.

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“…Based on the Euler-Lagrange equations, many approaches for deriving the dynamic model of robot manipulators are published [1,6,16,19,20,21]. The important property of dynamic equations, which is often exploited for developing control algorithms (e.g., sliding mode control [8,13], sliding mode control using neural networks [7,13], neural-networkbased control [5,14]), is the skew symmetry that depends on the Coriolis/centrifugal matrix formulation. For satisfying the skew symmetry property, the popular method is to take advantages of Christoffel symbols of the first kind for constructing the Coriolis/centrifugal matrix; but this matrix has to be set up by combining all its elements after calculating every one of them [6,16,19,20,21].…”

Section: Introductionmentioning

confidence: 99%

Dynamic Model With a New Formulation of Coriolis/Centrifugal Matrix for Robot Manipulators

Truc

Quyền

Quang

2020

JCC

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The paper presents a complete generalized procedure based on the Euler-Lagrange equations to build the matrix form of dynamic equations, called dynamic model, for robot manipulators. In addition, a new formulation of the Coriolis/centrifugal matrix is proposed. The link linear and angular velocities are formulated explicitly. Therefore, the translational and rotational Jacobian matrices can be derived straightforward from definition, which makes the calculation of the generalized inertia matrix more convenient. By using Kronecker product, a new Coriolis/centrifugal matrix formulation is set up directly in matrix-based manner and guarantees the skew symmetry property of robot dynamic equations. This important property is usually exploited for developing many control methodologies. The validation of the proposal formulation is confirmed through the symbolic solution and simulation of a typical robot manipulator.

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A comparison study of some control methods for delta spatial parallel robot

Cited by 6 publications

References 15 publications

Controller Design Based on a Kinematic Estimator for a 3rrr Planar Parallel Robot Driven by Electric Motors

Controller Design Based on a Kinematic Estimator for a 3rrr Planar Parallel Robot Driven by Electric Motors

Dynamic Modelling of 3-RUS Spatial Parallel Robot Manipulator

Dynamic Model With a New Formulation of Coriolis/Centrifugal Matrix for Robot Manipulators

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