Constrained multi-objective trajectory planning of parallel kinematic machines

. (2016). The study of model predictive control algorithm based on the force/position control scheme of the 5-DOF redundant actuation parallel robot. Robotics and Autonomous Systems. DOI: 10.1016DOI: 10. /j.robot.2016 Citing this paper Please note that where the full-text provided on King's Research Portal is the Author Accepted Manuscript or Post-Print version this may differ from the final Published version. If citing, it is advised that you check and use the publisher's definitive version for pagination, volume/issue, and date of publication details. And where the final published version is provided on the Research Portal, if citing you are again advised to check the publisher's website for any subsequent corrections. General rightsCopyright and moral rights for the publications made accessible in the Research Portal are retained by the authors and/or other copyright owners and it is a condition of accessing publications that users recognize and abide by the legal requirements associated with these rights.•Users may download and print one copy of any publication from the Research Portal for the purpose of private study or research.•You may not further distribute the material or use it for any profit-making activity or commercial gain •You may freely distribute the URL identifying the publication in the Research Portal Take down policy If you believe that this document breaches copyright please contact librarypure@kcl.ac.uk providing details, and we will remove access to the work immediately and investigate your claim. AbstractRedundant actuated parallel robot is a multi-input and multi-output (MIMO) system which usually works in an uncertain environment. In this paper, the force/position hybrid control structure of 6PUS-UPU redundant actuation parallel robot is designed, proportional-integral (PI) and model predictive control (MPC) cascade control strategy are used in the redundant branch of 6PUS-UPU redundant actuation parallel robot. The MPC algorithm is used in the current loop of the permanent magnet synchronous motor (PMSM) to restrain the motor parameter uncertainty and external disturbances influence on motor control. The MATLAB/ADAMS joint simulation method based on virtual 6PUS-UPU redundant actuation parallel robot prototype is used to test the performance of the proposed control strategy. The performance of proposed PI-MPC control strategy is compared with the traditional PI-PI control strategy. The simulation results show that the MPC controller can improve the tracking ability of the motor torque, guarantee the system robustness under the parameter variations and load disturbance environment.

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“…On the synchronous dq rotational coordinates, PMSM decoupling state equation is shown as in eq. (34).…”

Section: Mpc Controller Designmentioning

confidence: 99%

The study of model predictive control algorithm based on the force/position control scheme of the 5-DOF redundant actuation parallel robot

Wen

Qin

Zhang

et al. 2016

Robotics and Autonomous Systems

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“…The input law in (4) when substituted in (3) will give us system equations in the form of [16][17][18][19]:…”

Section: Kinematic and Dynamic Analysismentioning

confidence: 99%

“…Recently, more advanced techniques have been introduced [16][17][18][19] in which several optimization methods have been implemented in the multi-objective control of wheeled mobile robots. In [16] a summary of developments in the control of non-holonomic systems is provided.…”

Section: Introductionmentioning

confidence: 99%

Stabilized Feedback Control of Unicycle Mobile Robots

Khoukhi

Mohamed

2013

International Journal of Advanced Robotic Systems

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In this paper, a stabilized feedback control is designed for a class of unicycle non-holonomic mobile robots. The approach is based on kinematic polar coordinate transformations. The suggested control scheme allows the robot to achieve stabilized nearoptimal trajectories, while satisfying the hard constraints of specified initial and final postures (positions and orientations). Simulation experiments showing the effectiveness of the proposed technique are provided and discussed.

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“…Planning time-minimal trajectories were introduced by (Abdellatif and Heimann 2005), (Huang T. et al 2007). In (Khoukhi, Baron and Balazinski 2009), the authors minimize electrical energy, kinetic energy, robot motion time separating two sampling periods, and maximize a measure of manipulability allowing singularity avoidance.…”

Section: Introductionmentioning

confidence: 99%

Path Planning Kinematics Simulation of CNC Machine Tools Based on Parallel Manipulators

Rolland

2015

Motion and Operation Planning of Robotic Systems

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Since the very successful application of parallel robots in material handling, many projects attempted to implement the Gough platforms as milling machine manipulators with limited success mainly achieving roughing.The displacement of the milling tool should meet surface finish requirements. Users also wish to increase tool feedrate in order to improve productivity thereby reaching high speed milling levels. Even a constant high speed feedrate brings important challenges since they mean higher actuator accelerations even on straight lines. This work introduces geometric formalization of surface finish which is more realistic then classic error calculations.This research work proposes an off-line simulation tool analysing the milling task feasibility using a robot constituted by a general hexapod parallel manipulator, namely the Gough Platform, often refered as the Stewart Platform. Moreover, in order to meet the machine-tool standards, the parallel robot will be controlled by a typical CNC controller implementing classic position based algorithms adapted to the parallel robots with any kind of actuator polynomial interpolation. Control sampling rates are studied and their impact evaluated.High and very high speed milling simulation results show the implementation of linear and third order interpolation between the actuator set-points calculated from the CAD/CAM computed end-effector or tool set-points points. The results show that linear interpolation are not sufficient for high speed milling and then third order interpolation reach the required surface finish at fast and feasible CNC sampling rates.

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Constrained multi-objective trajectory planning of parallel kinematic machines

Cited by 46 publications

References 23 publications

The study of model predictive control algorithm based on the force/position control scheme of the 5-DOF redundant actuation parallel robot

The study of model predictive control algorithm based on the force/position control scheme of the 5-DOF redundant actuation parallel robot

Stabilized Feedback Control of Unicycle Mobile Robots

Path Planning Kinematics Simulation of CNC Machine Tools Based on Parallel Manipulators

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