Force/Position Hybrid Control of 6PUS-UPU Redundant Driven Parallel Manipulator Based on 2-DOF Internal Model Control

Zheng, Kuijing; Wang, Chao

doi:10.1155/2014/857947

Cited by 3 publications

(4 citation statements)

References 8 publications

(8 reference statements)

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“…Calculated based on the value of experience, in general, b ¼ 10, d ¼ 9. According to equation (17), we can find that the order of the higher-order integer order transfer function which is used to approximate the fractional transfer function is always odd. We suppose that the order of the differential is 0.5, the frequency band is (0.01, 100), namely a¼ 0.5, w b ¼ 0.01 and w h ¼ 100.…”

Section: Digital Realization Of Fractional Calculusmentioning

confidence: 99%

“…In recent years, some results of IMC have been obtained. 15,16 The work in Zheng and Wang, 17 an IMC-PID control method with 2-DOF is applied to the position control of the 6PUS-UPU redundant actuated parallel manipulator, and the controller has only two adjustable parameters. However, this method does not have a good solution to the tracking performance of the system.…”

Section: Introductionmentioning

confidence: 99%

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Fractional-order internal model control algorithm based on the force/position control structure of redundant actuation parallel robot

Wen

Zhang

et al. 2020

International Journal of Advanced Robotic Systems

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This article proposes a new control structure for the complex redundant actuation parallel robot based on force/position hybrid control structure. The traditional proportional–integral–derivative control method, integer-order internal model control method and fractional-filter internal model control–proportional–derivative control method are used in the position structure of force/position hybrid control. The fractional-filter internal model control–proportional–derivative control method is used in the position loop of the permanent magnet synchronous motor to reduce the position error. A fractional-order theory with the internal model control method is used in redundant actuation force control structure, which can improve the control precision of the driving force of the parallel robot. The Admas/Matlab simulation results show that the proposed method outperforms other methods and can obtain good robustness and tracking performance.

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Section: Digital Realization Of Fractional Calculusmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Fractional-order internal model control algorithm based on the force/position control structure of redundant actuation parallel robot

Wen

Zhang

et al. 2020

International Journal of Advanced Robotic Systems

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“…ese methods have higher requirements on the model of the control object, and the operating conditions and operating environment are deterministic. In order to improve the control performance, some scholars combined the intelligent control strategy with the traditional control strategy on control of the Delta parallel robot [21][22][23][24][25][26][27][28].…”

Section: Introductionmentioning

confidence: 99%

Research on a LADRC Strategy for Trajectory Tracking Control of Delta High-Speed Parallel Robots

Liu

Cheng

Liu

et al. 2020

Mathematical Problems in Engineering

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In order to better track the planned trajectory of Delta high-speed parallel robot, this paper proposes a dynamics control strategy for Delta high-speed parallel robots based on the linear active disturbance rejection control (LADRC) strategy which realizes decoupling control through observing and compensating the coupling and internal and external disturbances between the three joints. Firstly, the structure and dynamics model of the Delta high-speed parallel robot are analyzed, respectively. Secondly, the control scheme of the Delta high-speed parallel robot dynamic LADRC strategy is constructed, and then, the system stability is analyzed. Taking a representative 8-shaped space helical variance trajectory as a given input of the system and a triangular wave as an external disturbance as given disturbance input of the system, simulations are carried out to demonstrate the effectiveness of the proposed LADRC strategy; results indicate that the system with the LADRC strategy has a good quick and precise real-time trajectory tracking and strong robustness.

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“…Redundant actuation branch only influences forces state, and it cannot change the original kinestate [2]. In recent years, redundant actuation parallel manipulator has been studied by many researchers [3][4][5][6][7][8]. The recent research results about redundancy driven parallel robot are mainly focused on mechanism design of the redundant parallel robot [9] and overcoming workspace singularity points [10].…”

Section: Introductionmentioning

confidence: 99%

Fuzzy Identification and Delay Compensation based on the Force/Position Control Scheme of the 5-DOF Redundantly Actuated Parallel Robot

Wen

Zhang

et al. 2016

Int. J. Fuzzy Syst.

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This paper presents a fuzzy identification method for the dynamic model of the 6PUS-UPU redundantly actuated parallel robot. The T-S fuzzy model is the model of the whole system, the input is the pose of the moving platform and the output is the driving force. The fuzzy model is regarded as the feedback loop between the moving platform and the force branch. The dynamic model is built by Kane's method, and a novel closed-loop force/position hybrid control structure with the pose error for a complex multi-DOF spatial redundantly actuated parallel robot is developed. A proportional-integral force controller is presented based on the structure to obtain an optimal solution under the model identification. The proposed procedure is verified by Matlab/Adams simulation with a 6PUS-UPU simulation platform. The simulation results show that the proposed method is valid for designing the 5-DOF redundantly actuated parallel robot with the movable platform pose error. This paper designs the Smith predictor to solve the delay problem of the redundant force control branch.

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Force/Position Hybrid Control of 6PUS-UPU Redundant Driven Parallel Manipulator Based on 2-DOF Internal Model Control

Cited by 3 publications

References 8 publications

Fractional-order internal model control algorithm based on the force/position control structure of redundant actuation parallel robot

Fractional-order internal model control algorithm based on the force/position control structure of redundant actuation parallel robot

Research on a LADRC Strategy for Trajectory Tracking Control of Delta High-Speed Parallel Robots

Fuzzy Identification and Delay Compensation based on the Force/Position Control Scheme of the 5-DOF Redundantly Actuated Parallel Robot

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