Forward kinematic problem of 5-RPUR parallel mechanisms (3T2R) with identical limb structures

Masouleh, Mehdi Tale; Gosselin, Clément; Husty, Manfred L.; Walter, Dominic R.

doi:10.1016/j.mechmachtheory.2011.02.005

Cited by 46 publications

(32 citation statements)

References 30 publications

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“…In line 9, the position coordinates of each R-joint are obtained using equation (3). Then, using equation (8) and the position coordinates of the R-joints as calculated in lines 8-10, the system of non-linear equations composed of equations (5)- (7) is solved to obtain x-y coordinates of each mobile robot for any time step i, as described in line 11. Afterwards it is possible to calculate the desired orientation that each mobile robot should take at each time step i, as described in line 12.…”

Section: Path Planning Algorithmmentioning

confidence: 99%

“…Moreover, both approaches lead to obtaining the upper bound of number of solutions, which is a definite asset for kinematic optimization purposes. [8][9][10][11] Identical to numerous existing analytical solving methods, several algorithms have been proposed in the field of collision-free path planning, each having some pros and cons. These path planning algorithms are divided into two types, namely, on-line and offline algorithms.…”

Section: Introductionmentioning

confidence: 99%

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Collision-free path planning of a novel reconfigurable mobile parallel mechanism

Porshokouhi

Kazemi

Masouleh³

et al. 2016

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper initially deals with the design of a new customized reconfigurable mobile parallel mechanism. This mechanism is called the 'Taar Reconfigurable ParaMobile' (TRPM), consisting of three mobile robots as the main actuators. Then, the kinematics and path planning for this mechanism are presented. The newly proposed mechanism is expected to circumvent some shortcomings of inspection operation in unknown environments with unexpected changes in their workspace, for example, in a water pipe with a non-uniform cross-sectional area. In this paper, 'Artificial Potential Field' (APF) has been assumed to be the path planning algorithm and its resulting attractive and repulsive forces are only applied to the end-effector to generate the desired path. It is worth mentioning that the obstacle considered in this paper is a wedge which models an environment with non-uniform cross-sectional area along the path travelled by the end-effector. The inverse kinematics of the TRPM is then solved by resorting to the Resultant method as well as the Homotopy continuation method. The objective of utilizing these two well-known methods is to verify the correctness of the upper bound of solutions. It should be mentioned that solving the inverse kinematic problem obtained from both above-mentioned methods, leads to 12 solutions: eight real and four complex solutions. As a novel parallel mechanism, the TRPM yields a three-degrees-of-freedom kinematic redundancy. Despite the fact that the redundancy is sometimes beneficial for the control procedure, solving the inverse kinematics of the TRPM would be feasible only by adding some constraints. As a result, there will be a system of equations consisting of three kinematic equations and three auxiliary equations. Results from this study reveal that, by applying APF as the path planning algorithm to the TRPM, it is possible to track proper paths to reach the target.

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Section: Path Planning Algorithmmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Collision-free path planning of a novel reconfigurable mobile parallel mechanism

Porshokouhi

Kazemi

Masouleh³

et al. 2016

Proceedings of the Institution of Mechanical Engineers, Part C:

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show abstract

“…Using the boundary values of the centroid , the final crisp defuzzified value is computed as the mean of the centroid interval (11) III. 3DOF DELTA PARALLEL ROBOT In this paper, the IT2 FLC is applied to the problem of uncertainty robust position control of a 3DOF delta parallel robot [28]- [30]. In general, parallel robotic architectures feature increased structural rigidity and available workload when compared to their sequential counterparts.…”

Section: B Interval Type-2 Fuzzy Logic Controlmentioning

confidence: 99%

Uncertainty-Robust Design of Interval Type-2 Fuzzy Logic Controller for Delta Parallel Robot

Linda

Manic

2011

IEEE Trans. Ind. Inf.

110

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Type-2 Fuzzy Logic Controllers (T2 FLCs) have been recently applied in many engineering areas. While understanding the control potentials of T2 FLCs can still be considered an open question researchers, commonly claim superiority of T2 FLCs based on a limited exploration of the space of design parameters. The contribution of this work is based on a problem-driven design of uncertainty-robust Interval T2 (IT2) FLCs. The presented methodology starts with a baseline optimized T1 FLC. Next, a group of IT2 FLCs is designed using partially dependent approach by symmetrically blurring the membership functions around the original T1 fuzzy sets. This constrained design space allows for its systematic exploration and analysis. The performance of the designed controllers was evaluated on delta parallel robot hardware under two kinds of commonly encountered uncertainties: i) sensory noise and ii) uncertain system parameters. The experimental results showed that IT2 FLCs provide improved control performance against T1 FLCs when appropriate design of IT2 fuzzy sets is performed. In addition, it was demonstrated that excessive amount of "type-2 fuzziness" in the IT2 FLC design leads to rapid performance degradation.Index Terms-Delta parallel robot, interval type-2 fuzzy logic control (T2 FLC), robustness, uncertainty handling.

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“…They analyzed mobility and singularity. Tale Masouleh et al (2011) investigated the kinematic problem of a 5-DOF 5-RPUR mechanism with two different approaches, which differ by their concepts of eliminating passive variables. Zhao and Gao (2010) investigated the kinematic and dynamic properties of a 6-DOF 8-PSS redundant manipulator.…”

Section: Introductionmentioning

confidence: 99%

Exploiting Higher Kinematic Performance - Using a 4-Legged Redundant PM Rather than Gough-Stewart Platforms

Abedinnasab¹,

Yoon²,

Zohoor³

2012

Serial and Parallel Robot Manipulators - Kinematics, Dynamics, Control and Optimization

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Forward kinematic problem of 5-RPUR parallel mechanisms (3T2R) with identical limb structures

Cited by 46 publications

References 30 publications

Collision-free path planning of a novel reconfigurable mobile parallel mechanism

Collision-free path planning of a novel reconfigurable mobile parallel mechanism

Uncertainty-Robust Design of Interval Type-2 Fuzzy Logic Controller for Delta Parallel Robot

Exploiting Higher Kinematic Performance - Using a 4-Legged Redundant PM Rather than Gough-Stewart Platforms

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