Enhanced Motion Control Concepts on Parallel Robots

This paper presents motion control concepts on parallel robots with explicit focus on anti-windup-design and trajectory-tracking. Starting from modeling and exact feedback linearization, a cascade control is designed. Improvements to control laws with respect to input-saturations are derived by using concepts of anti-windup compensation. A multiple-axis anti-windup-control is presented, guaranteeing tracking in case of input-saturation. Control schemes are implemented on a planar parallel manipulator for performance evaluation of high dynamic operation. Efficiency of control is highlighted with respect to trajectory tracking i. e. Cartesian distortion. All concepts are derived in a formal way guaranteeing manipulatorindependent results and transferability.

show abstract

“…For details of design consider [22] and [23] -for a comparison to other control schemes with respect to performance we refer to [24].…”

Section: A Inverse Dynamics Feedback and Cascade Controlmentioning

confidence: 99%

Anti-windup design for trajectory tracking of a parallel robot - An holistic approach

Wobbe

Nguyen

Schumacher

2010

2010 IEEE International Conference on Robotics and Automation

Self Cite

View full text Add to dashboard Cite

show abstract

“…On line computing of direct kinematics of PKM in real time applications demand high performance of the computer hardware, additionally task space control schemes based on forward kinematics are affected by the numerical estimation errors and the geometrical errors, both typical characteristics of direct kinematics problem in parallel robots applications [1]. Many of these schemes have been proved by simulation or in laboratory testbed, but not commonly on industrial motion platform [3].…”

Section: Cartesian Space Controlmentioning

confidence: 99%

“…Known as Parallel Kinematics Machines -PKM- they have excellent rigidity, fine motion, high strength-to-moving-weight ratio, high precision and repeatability; but also bring serious challenges such as limited workspace; singularities within the workspace and the kinematics and dynamic modeling [2]. From the point of view of control schemes, the control algorithms in PKM can be developed indistinctly in joint space [3] or task space [4] coordinates. In joint space control each active joint can be controlled as a decoupled independent single-input single-output control loop, with general poor compensation of the uncertainties and unmodelled dynamics.…”

Section: Introductionmentioning

confidence: 99%

“…Many of these schemes have been proved by simulation or in laboratory testbed, but not commonly on industrial motion platform [3].…”

Section: End-effector Pose Measurementmentioning

confidence: 99%

“…From the point of view of control schemes, the control algorithms in PKM can be developed indistinctly in joint space [3] or task space [4] coordinates. In joint space control each active joint can be controlled as a decoupled independent single-input single-output control loop, with general poor compensation of the uncertainties and unmodelled dynamics.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Cartesian Control of a 3-DOF Electro-Pneumatic Actuated Motion Platform with Exteroceptive Pose Measurement

Izaguirre

Hernández

Rubio

et al. 2011

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

This paper presents a kinematic cartesian control scheme of 3 degree of freedom parallel robot driven by electro-pneumatic actuators based on exteroceptive pose measurement system. The inverse kinematics model is used to obtain the desired joint position coordinates from the time-varying trajectory given in task space. The proposal cascade control scheme in task space is based in two loops, the inner loop consisting in a decoupled joint position control and the outer loop which is designed to obtain an appropriate task space trajectory tracking. In order to avoid the on-line computation of direct kinematics an arrangement of inertial sensor and optical encoders are employed to provide the accurate pose measurement of end-effector. The experimentʹs results demonstrate the great performance of the proposed control scheme in industrial motion tracking application.

show abstract

Integrated Force and Motion Control of Parallel Robots – Part 1: Unconstrained Space

Kolbus

Wobbe

Reisinger³

et al. 2010

Springer Tracts in Advanced Robotics

View full text Add to dashboard Cite

Enhanced Motion Control Concepts on Parallel Robots

Cited by 5 publications

References 19 publications

Anti-windup design for trajectory tracking of a parallel robot - An holistic approach

Anti-windup design for trajectory tracking of a parallel robot - An holistic approach

Cartesian Control of a 3-DOF Electro-Pneumatic Actuated Motion Platform with Exteroceptive Pose Measurement

Integrated Force and Motion Control of Parallel Robots – Part 1: Unconstrained Space

Contact Info

Product

Resources

About