Coordination dynamics and model-based neural network synchronous controls for redundantly full-actuated parallel manipulator

Liu, Xiaofei; Yao, Jiantao; Li, Qi; Zhao, Yongsheng

doi:10.1016/j.mechmachtheory.2021.104284

Cited by 16 publications

(7 citation statements)

References 32 publications

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“…Overactuated systems (Ijaz et al, 2019), also called as redundant actuated systems, are control systems in which the number of system control inputs is more than the number of system degrees of freedom. The models are seen in systems, such as parallel robot systems (Cheng & Liao, 2021; Gosselin & Foucault, 2015; X. Liu et al, 2021), redundant robot systems (Ding et al, 2022), hydraulic construction cranes (Koivumäki & Mattila, 2015; Zhu et al, 2021), and so forth. In construction areas, especially in the lifting and installing of large components, overactuated CR plays an extremely dominant role that makes the system work in higher height, better precision, and load‐bearing capacity by introducing redundant actuated devices in the system.…”

Section: Overview Of Control Theory and Methodsmentioning

confidence: 99%

Section: When H Qmentioning

confidence: 99%

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A review for control theory and condition monitoring on construction robots

Shi

Bai

et al. 2023

Journal of Field Robotics

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The application of robotic technologies in building construction leads to great convenience and productivity improvement, and construction robots (CRs) bring enormous opportunities for the way we conduct design and construction. To get a better understanding of the trends and track the application of CRs for on‐site conditions, this paper conducts a systematic review of control models and status monitoring of CRs, which are two key aspects that determine construction accuracy and efficiency. Control accuracy and flexibility are primary needs for CRs applied in different scenes, so the control methods based on driving models are vitally important. Status monitoring on CRs contains knowledge in fault detection, intelligence maintenance, and fault‐tolerant control, and multiple objectives need to be met and optimized in the whole drive chain. Moreover, the state‐of‐the‐art is comprehensively summarized, and new insights are also provided to carry on promising researches.

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Section: Overview Of Control Theory and Methodsmentioning

confidence: 99%

Section: When H Qmentioning

confidence: 99%

A review for control theory and condition monitoring on construction robots

Shi

Bai

et al. 2023

Journal of Field Robotics

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“…Zhao Wenkang et al mainly aimed at multi-objective optimization and optimization of arm [15]. Liu Changhao et al took space manipulator as the main research object, optimized the dynamic modeling of space manipulator, and solved the uncertainty in the process of space manipulator dynamic modeling [16].…”

Section: Technical Statusmentioning

confidence: 99%

Design of envelope analysis software for LNG unloading arm based on MATLAB App

Deng

2023

J. Phys.: Conf. Ser.

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According to investigate the current situation of the envelope of LNG unloading arm, this paper in view of the relationship between the structure and the envelope of LNG unloading arm, a complete set of calculation program is designed by using the app designer of MATLAB which can automatically generate the envelope according to the hydrological conditions. The program can be used to guide the emergency disengagement process of the unloading arm in case it can work safely on the LNG terminal in the actual project. This paper provides a design basis for promoting the domestic development of LNG unloading arm.

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“…For parallel mechanism with actuation redundancy, there are many ways to increase the number of constraint equations, for example, minimizing the position errors [10] and internal force regulation [24]. Based on the deformation compatibility equation, the paper increases the number of constraint equations.…”

Section: Dynamics Analytical Modeling Of Parallel Mechanism With Actu...mentioning

confidence: 99%

High-efficiency inverse dynamics modeling of parallel posture alignment mechanism with actuation redundancy

Wang

Sun

2023

Robotica

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The analytical expression of driving force is helpful to quickly plan the kinematic trajectory of parallel mechanism for automatic drilling and riveting. For parallel posture alignment mechanism, because of its closed-loop characteristics, the inverse dynamic solution is more complex, especially for parallel bracket with actuation redundancy. Considering that the telescopic rods are actually flexible parts, the dynamic analytical modeling is carried out with deformation supplementary equation. Taking the force at the spherical joint as the intermediate variable and the driving force of each active prismatic pair are analytically analyzed by vector cross-product. The modeling was verified by experiment. Compared with previous research methods, the analytical method proposed improves the solution accuracy of driving force slightly and reduces the driving force solution time by 56.28%, which is high efficiency. The maximum error percentage is 1.61%, and the experimental results show that the method of inverse dynamics modeling is practical. This paper can be used for driving force analysis of parallel posture alignment mechanism based on positioner in the field of aircraft assembly.

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Coordination dynamics and model-based neural network synchronous controls for redundantly full-actuated parallel manipulator

Cited by 16 publications

References 32 publications

A review for control theory and condition monitoring on construction robots

A review for control theory and condition monitoring on construction robots

Design of envelope analysis software for LNG unloading arm based on MATLAB App

High-efficiency inverse dynamics modeling of parallel posture alignment mechanism with actuation redundancy

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