Dual-Loop Motion Control for Geometric Errors and Joint Clearances Compensation of a Planar 2-PRP+1-PPR Manipulator

Mohan, Santhakumar; Huesing, Mathias; Corves, Burkhard

doi:10.1007/978-3-319-60702-3_18

Cited by 2 publications

(2 citation statements)

References 5 publications

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“…However, controlling these machines is a cumbersome task due to the lack of a direct measurement of the manipulator’s end-effector pose (Paccot et al, 2009; Colombo et al, 2019). Furthermore, despite researchers having employed vision-based techniques and image processing algorithms for acquiring the end-effector’s position and orientation (Mohan et al, 2017; Colombo et al, 2019), these approaches must cope with tight sampling time requirements to avoid performance limitations and stability issues. These requirements impose a severe challenge to the viability of this solution.…”

Section: Introductionmentioning

confidence: 99%

Deriving suitable models for model-based control design of a parallel manipulator with flexible components

Colombo

Silva

2022

Journal of Vibration and Control

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Parallel manipulators are more energy-efficient and present higher speed/acceleration ratios when compared with serial manipulators. Moreover, reducing their components’ inertia can further improve these performance criteria. However, this design alternative could induce vibrations due to its lighter components. In this case, model-based control design strategies can help the designer to meet high-performance requirements. These strategies require limited-sized models, while the methods for modeling system’s flexibilities usually yield large-sized models. Therefore, strategies for reducing the size of these large-sized models should be employed. In this manuscript, a two-step model reduction strategy is proposed to derive suitable models for control design. This proposal preserves all rigid modes and selects the most relevant flexible ones. An Linear Quadratic Gaussian is designed for a flexible 3RRR parallel manipulator using a limited-sized model. This model-based control strategy is evaluated in a flexible multibody environment demonstrating the proposal’s viability.

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Section: Introductionmentioning

confidence: 99%

Deriving suitable models for model-based control design of a parallel manipulator with flexible components

Colombo

Silva

2022

Journal of Vibration and Control

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“…A redundant feedback strategy at the joint and task-space level are proposed by ref. [26] using appropriate sensors. Using this approach, the actual error of the joint displacements are computed, improving the control performance.…”

Section: Introductionmentioning

confidence: 99%

Model-based joint and task space control strategies for a kinematically redundant parallel manipulator

et al. 2021

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One alternative to overcome the presence of singularities within Parallel Manipulators’ workspace is kinematic redundancy. This design alternative can be realized by adding an extra active joint to a kinematic chain. Due to this addition, the IKM presents an infinite number of solutions requiring a redundancy resolution scheme. Moreover, Parallel Manipulators’ control may require complex strategies due to their coupled and complex dynamic and kinematic relations. In this work, a model-free, a joint space computed torque, and a hybrid joint-task-space computed torque control strategies are experimentally compared for a kinematically redundant parallel manipulator. The latter is a novel strategy that requires the measurement of the end-effector’s pose, which is performed by an eye-to-hand limited frame rate camera. The impact of up to three kinematic redundancy levels is also experimentally evaluated using prepositioning and ongoing positioning redundancy resolution schemes. The data are assessed by evaluating a prescribed trajectory executed using a planar kinematically redundant parallel manipulator. These results indicate that kinematic redundancy can not only be used as an alternative design for reducing the presence of singular regions, as claimed in the literature, but also be used along with model-based control strategies for improving dynamic performance and accuracy of parallel manipulators.

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Dual-Loop Motion Control for Geometric Errors and Joint Clearances Compensation of a Planar 2-PRP+1-PPR Manipulator

Cited by 2 publications

References 5 publications

Deriving suitable models for model-based control design of a parallel manipulator with flexible components

Deriving suitable models for model-based control design of a parallel manipulator with flexible components

Model-based joint and task space control strategies for a kinematically redundant parallel manipulator

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