Dynamic analysis and optimization of a kinematically redundant planar parallel manipulator

Boudreau, Roger; Léger, Jérémie; Tinaou, Hakim; Gallant, André

doi:10.1139/tcsme-2017-0003

Cited by 9 publications

(7 citation statements)

References 15 publications

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“…For this reason, some scholars have addressed torque/force minimization of robot manipulators. The main approaches are (i) trajectory planning of the manipulator [2,3,4], (ii) actuation or kinematic redundancy [2,5,6,7]. For instance, Park et al [2] proposed an optimization procedure to optimize both the end-effector trajectory and actuating torque distribution of a 2-DOF redundantly actuated parallel mechanism.…”

Section: Introductionmentioning

confidence: 99%

“…They showed that adding the redundant actuation branch can reduce the peak value of other non-redundant branch driving forces and improve its dynamic performance. Boudreau et al [7] developed an optimization approach to minimize the actuator torques of a 3-PRPR planar parallel manipulator when following a specified trajectory and proved that the redundant manipulator requires smaller torques compared with those of the non-redundant counterpart.…”

Section: Introductionmentioning

confidence: 99%

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Task-based torque minimization of a 3-PṞR spherical parallel manipulator

Zarkandi

2021

Robotica

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A comprehensive dynamic modeling and actuator torque minimization of a new symmetrical three-degree-of-freedom (3-DOF) 3-PṞR spherical parallel manipulator (SPM) is presented. Three actuating systems, each of which composed of an electromotor, a gearbox and a double Rzeppa-type driveshaft, produce input torques of the manipulator. Kinematics of the 3-PṞR SPM was recently studied by the author (Zarkandi, Proc. Inst. Mech. Eng. Part C J. Mech. Eng. Sci. 2020, https://doi.org/10.1177%2F0954406220938806). In this paper, a closed-form dynamic equation of the manipulator is derived with the Newton–Euler approach. Then, an optimization problem with kinematic and dynamic constraints is presented to minimize torques of the actuators for implementing a given task. The results are also verified by the SimMechanics model of the manipulator.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Task-based torque minimization of a 3-PṞR spherical parallel manipulator

Zarkandi

2021

Robotica

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“…Yao et al [15] presented a redundant actuated 5UPS-PRPU parallel mechanism by adding an actuator for the middle PRPU passive constraint branch; the simulations illustrated that redundant actuation can greatly improve the performance and ability of the parallel mechanism. Boudreau et al [16,17] presented the dynamic model of a cinematically redundant planar parallel mechanism and an optimization to minimize the torques when the end-effector performs the trajectory tracking. Wang et al [18] derived the inverse dynamic model of a spatial 3-DOF parallel mechanism with redundant actuation by adding actuators to passive rotational joints, and the driving force was optimized in terms of the Moore-Penrose inverse matrix.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Tracking Control Study of a New Parallel Mechanism with Redundant Actuation

Zhang

Fang

Zhang

et al. 2020

International Journal of Aerospace Engineering

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Parallel mechanisms with redundant actuation are attracting numerous scholars’ research interest due to their inherent advantages. In this paper, an efficient trajectory tracking control scheme for the new redundantly actuated parallel mechanism by integrating force/position hybrid control with the combination of inertia feed-forward control and back propagation (BP) neural network PID control is proposed. The dynamic models including the joint space and task space are formulated explicitly in efficient and compact form by means of the principle of virtual work and d’Alembert formulations. The force/position hybrid control is implemented to perform trajectory tracking and optimize the driving force configuration in MATLAB/Simulink environment, before being applied to an actual parallel mechanism. The illustrative simulation results demonstrate that the force/position hybrid control scheme is available to provide good trajectory tracking performance. Simultaneously, the feasibility of the proposed control scheme is verified by comparison analysis with the aforementioned conventional control method.

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“…Yao et al [14] presented a redundant actuated 5UPS-PRPU parallel manipulator by adding an actuator to the middle PRPU passive constraint branch to form a redundant branch; the simulations illustrated that redundant actuation can greatly improve the performance of the parallel manipulator. Boudreau et al [15,16] presented the dynamic model of a cinematically redundant planar parallel manipulator and optimized to make the actuator torques minimize when the end-effector is performing the trajectory tracking. Wang et al [17] derived the inverse dynamic model of a spatial 3-DOF parallel manipulator with redundant actuation by adding actuators to passive rotational joints, and the driving force was optimized in terms of the Moore-Penrose inverse matrix.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Adaptive Robust Synchronous Control of Parallel Robotic Manipulator for Industrial Application

et al. 2020

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Control of parallel manipulators is very hard due to their complex dynamic formulations. If part of the complexity is resulting from uncertainties, an effective manner for coping with these problems is adaptive robust control. In this paper, we proposed three types of adaptive robust synchronous controllers to solve the trajectory tracking problem for a redundantly actuated parallel manipulator. The inverse kinematic of the parallel manipulator was firstly developed, and the dynamic formulation was further derived by mean of the principle of virtual work. Furthermore, linear parameterization regression matrix was determined by virtue of command function “equationsToMatrix” in MATLAB. Secondly, the three adaptive robust synchronous controllers (i.e., sliding mode control, high gain control, and high frequency control) are developed, by incorporating the camera sensor technique into adaptive robust synchronous control architecture. The stability of the proposed controllers was proved by utilizing Lyapunov theory. A sequence of simulation tests were implemented to prove the performance of the controllers presented in this paper. The three proposed controllers can theoretically guarantee the errors including trajectory tracking errors, synchronization errors, and cross-coupling errors asymptotically converge to zero for a given trajectory, and the estimated unknown parameters can also approximately converge to their actual values in the presence of unmodeled dynamics and external uncertainties. Moreover, all the simulation comparative results were presented to illustrate that the adaptive robust synchronous high-frequency controller possess a much superior comprehensive performance than two other controllers.

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Dynamic analysis and optimization of a kinematically redundant planar parallel manipulator

Cited by 9 publications

References 15 publications

Task-based torque minimization of a 3-PṞR spherical parallel manipulator

Task-based torque minimization of a 3-PṞR spherical parallel manipulator

Trajectory Tracking Control Study of a New Parallel Mechanism with Redundant Actuation

Dynamic Modeling and Adaptive Robust Synchronous Control of Parallel Robotic Manipulator for Industrial Application

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