Advanced Model-Based Control of a 6-DOF Hexapod Robot: A Case Study

Abdellatif, Houssem; Heimann, Bodo

doi:10.1109/tmech.2009.2024682

Cited by 67 publications

(44 citation statements)

References 30 publications

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“…but the fixed-leg length hexapods are. Hexapods with revolute joints were also reported in the literature, for example, DELTA robot, which can reach an acceleration of up to 20 g in some area of the workspace [20].…”

Section: Introductionmentioning

confidence: 99%

An integrated approach for remote manipulation of a high-performance reconfigurable parallel kinematic machine

Zhang

Wang

Gao

2010

Journal of Manufacturing Systems

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Section: Introductionmentioning

confidence: 99%

An integrated approach for remote manipulation of a high-performance reconfigurable parallel kinematic machine

Zhang

Wang

Gao

2010

Journal of Manufacturing Systems

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“…The parallel configuration was adopted because of its accuracy, repeatability and payload capacity. Even taking into account parallel structures' inherent disadvantages, such as limited workspace and complex forward kinematic and singularity analysis [14,12,1], in our case it was advantageous to use them because of their superior pose accuracy when compared to serial chain mechanisms [9,10].…”

Section: Introductionmentioning

confidence: 99%

Design, Modeling, and Control of a Wheel-Legged Locomotion System for the Environmental Hybrid Robot

Freitas¹,

Lizarralde²,

Hsu³

et al. 2012

Biomechanics / 752: Robotics

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Urucu, deep in the Amazon forest, is the largest in-land natural gas and oil producing site in Brazil. The oil and gas extracted in Urucu travel some 700 km in a pipeline through the jungle until they reach Manaus, where they are refined and consumed. Exploration of the site is conditioned on the Brazilian oil company Petrobras monitoring a 400 km section of the pipeline for any signs of water contamination. The Environmental Hybrid Robot (EHR) was conceived to automate this humongous monitoring task, currently executed in extremely small scale by scientists and locals on foot and small boats. This paper describes the design, analysis, and testing of the EHR's second-generation locomotion mechanism, based on a two-DOF parallel mechanism. The new mechanism allows for independent control of wheel position and orientation relative to the terrain, thus significantly increasing the robot's mobility. Additionally, it allows for control of the vehicle's velocity-torque curve by adjusting the radius of curvature of the wheel at the point of contact with the soil. We present the forward and differential kinematic models of the new mechanism and, based on them, a differential kinematics-based position and orientation control method. We illustrate the methodology with experimental results.

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“…One example is [1], where ILC algorithms using joint positions are applied to a direct-driven hexapod. In [8], an ILC algo- rithm using joint positions is applied to a planar directdriven parallel robot, where the ILC algorithm is intended to reduce the low-frequency error components, and the resulting tool position is evaluated by a highprecision laser measurement system.…”

Section: Introductionmentioning

confidence: 99%

Estimation-based ILC applied to a parallel kinematic robot

Axehill¹,

Dressler²,

Gunnarsson³

et al. 2014

Control Engineering Practice

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Estimation-based iterative learning control (ILC) is applied to a parallel kinematic manipulator known as the GantryTau parallel robot. The system represents a control problem where measurements of the controlled variables are not available. The main idea is to use estimates of the controlled variables in the ILC algorithm, and in the paper this approach is evaluated experimentally on the Gantry-Tau robot. The experimental results show that an ILC algorithm using estimates of the tool position gives a considerable improvement of the control performance. The tool position estimate is obtained by fusing measurements of the actuator angular positions with measurements of the tool path acceleration using a complementary filter.

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Advanced Model-Based Control of a 6-DOF Hexapod Robot: A Case Study

Cited by 67 publications

References 30 publications

An integrated approach for remote manipulation of a high-performance reconfigurable parallel kinematic machine

An integrated approach for remote manipulation of a high-performance reconfigurable parallel kinematic machine

Design, Modeling, and Control of a Wheel-Legged Locomotion System for the Environmental Hybrid Robot

Estimation-based ILC applied to a parallel kinematic robot

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