High-Precision Absolute Pose Sensing for Parallel Mechanisms

Schempp, Constantin; Schulz, Stefan

doi:10.3390/s22051995

Cited by 5 publications

(2 citation statements)

References 80 publications

(92 reference statements)

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“…The verification experiments of the Stewart platform described in the literature used a camera [34], force measurements in the struts [35] or inertial measurement sensors [36], [37]. Camera and inertial measurement sensors are used for an estimation of the kinematic variables.…”

Section: A System Architecturementioning

confidence: 99%

Multibody Simulation Model as Part of Digital Twin Architecture: Stewart Platform Example

Walica,

Noskievič

2024

IEEE Access

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The digital twin is considered a new and promising concept whose added value is seen mainly in end applications. However, the benefit of considering the digital twin application since the early development of the system seems not to be stressed enough. The ability to choose system components, methods, and tools can have a symbiotic effect during system integration. This work describes a development process of a Stewart platform digital twin based on its multibody simulation model created in Matlab/Simulink. Although the multibody simulation model is useful in the design phase, after adjustments and verification, it can also be reused as a virtual entity of the digital twin. This integration is enabled by the methods, tools, and system architecture selected for the purpose of including a digital twin. This is considered to be the main contribution of this paper to emerging methodologies for the development of mechatronic systems and its digital twins. However, practical integration comes with challenges that are related to the model fidelity and synchronisation of the virtual and physical entities and are important to overcome in order to employ the system in the real applications. INDEX TERMS Digital twin, Machine design, Multibody simulation, Stewart platform I. INTRODUCTION

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Section: A System Architecturementioning

confidence: 99%

Multibody Simulation Model as Part of Digital Twin Architecture: Stewart Platform Example

Walica,

Noskievič

2024

IEEE Access

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“…The second method is to implement an absolute position feedback control, usually relying on external sensors [3][4][5]. Most commonly, the tool is tracked by an exteroceptive sensor (for instance, a laser tracker [6], an encoder [7] or a 3D camera [8,9]), and the position feedback enables real-time compensation for the robot's inaccuracy. This method achieves up to a 70% accuracy improvement by using a laser tracker with heavy-duty robots [6].…”

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confidence: 99%

Elasto-Geometrical Model-Based Control of Industrial Manipulators Using Force Feedback: Application to Incremental Sheet Forming

et al. 2022

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This paper aims to improve the positioning accuracy of serial industrial manipulators using force feedback in manufacturing processes by implementing an elasto-geometrical model-based control. Initially, the real-time position control strategy using a force feedback to elastically correct the Tool Center Point (TCP) pose of serial industrial manipulators is detailed. To continue, an efficient model structure identification and calibration is proposed to shorten the elasto-geometrical modeling process. The Virtual Joint Method (VJM) is chosen to iterate and complete the robot stiffness modeling. This method considers that the elastic deformations are only localized at the joints of the robot. An appropriate and original test-model approach allows a minimum of optimization iterations to find the best compromise between complexity and accuracy of the modeling. The proposed approach is illustrated in detail by the Stäubli TX200 robot modeling. Finally, the reliability and responsiveness of the developed control framework is then evaluated through experimental tests in an Incremental Sheet Forming (ISF) context. An average improvement of 70% in trajectory-tracking accuracy is achieved during these tests. Overall, the high accuracy and responsiveness of the developed system demonstrate a promising potential for deploying industrial manipulators to a cost-effective manufacturing processes in industry 4.0.

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Dynamic characterization and optimization of moving platforms for enhancing precision in semiconductor point testing equipment

Chan,

Fan,

Ullah

et al. 2024

Int J Interact Des Manuf

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High-Precision Absolute Pose Sensing for Parallel Mechanisms

Cited by 5 publications

References 80 publications

Multibody Simulation Model as Part of Digital Twin Architecture: Stewart Platform Example

Multibody Simulation Model as Part of Digital Twin Architecture: Stewart Platform Example

Elasto-Geometrical Model-Based Control of Industrial Manipulators Using Force Feedback: Application to Incremental Sheet Forming

Dynamic characterization and optimization of moving platforms for enhancing precision in semiconductor point testing equipment

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