Identification of dynamic and friction parameters of a parallel manipulator with actuation redundancy

Shang, Weiwei; Cong, Shuang; Kong, Fanrang

doi:10.1016/j.mechatronics.2009.11.005

Cited by 32 publications

(17 citation statements)

References 28 publications

(38 reference statements)

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“…Thus, compared with the active joints friction f ai , the passive joint friction f bi is much smaller and it can be neglected. 23 The active joint friction torque f ai can be formulated as…”

Section: Dynamic Modelmentioning

confidence: 99%

Adaptive computed torque control for a parallel manipulator with redundant actuation

Shang

Cong

2011

Robotica

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SUMMARYAn adaptive computed torque (ACT) controller in the task space is proposed for the trajectory tracking of a parallel manipulator with redundant actuation. The dynamic model, including the active joint friction, is established in the task space for the parallel manipulator, and the linear parameterization expression with respect to the dynamic and friction parameters is formulated. On the basis of the dynamic model, a new control law, which contains adaptive dynamics compensation, friction compensation, and tracking error elimination terms, is designed. After defining the state-space model of the error system, the parameter adaptation law is derived by using the Lyapunov method, and the convergence of the tracking error and the error rate is proved by using the Barbalat's lemma. The ACT controller is implemented in the trajectory tracking experiments of an actual 2-DOF parallel manipulator with redundant actuation, and the experiment results are compared with the computed torque controller.

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Section: Dynamic Modelmentioning

confidence: 99%

Adaptive computed torque control for a parallel manipulator with redundant actuation

Shang

Cong

2011

Robotica

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“…Compared with the active joints friction ai f , the passive joint friction bi f is much smaller and it can be neglected [19]. Considering the complexity of the active joint friction, ai f is formulated with the asymmetric Coulomb and viscous friction model as [19] , 0 , 0…”

Section: Dynamic Modelingmentioning

confidence: 99%

“…For the high-speed motion, the max velocity is 0.5m/s, the max acceleration is 10m/s 2 , and the jerk is 400m/s 3 . In the adaptive compensation control experiment, the nominal values of the dynamic parameters are selected as the initial values [19]. Then, with the known dynamic parameters, the values of the friction parameters can be identified by the Least Squares method [19].…”

Section: Trajectory Tracking Experimentsmentioning

confidence: 99%

Adaptive compensation of dynamics and friction for a planar parallel manipulator with redundant actuation

Shang

Cong

2010

2010 IEEE International Conference on Robotics and Biomimetics

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In order to improve the actual tracking accuracy of a planar parallel manipulator with redundant actuation, a new adaptive compensation of dynamics and friction is developed. Firstly, the dynamic model is established in the task space for the parallel manipulator, and a linear parametrization expression with respect to the model parameters is formulated. Then, based on the dynamic model, a new adaptive control law which contains dynamics compensation, friction compensation and tracking error elimination items is designed. The parameter adaptation law is derived by the Lyapunov method, and the convergence of the tracking error and the error rate is proved by the Barbalat's lemma. At last, the proposed controller is implemented in the trajectory tracking experiments of an actual planar parallel manipulator with redundant actuation.

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“…To identify the accurate dynamic and friction parameters of a parallel manipulator with actuation redundancy, a nonlinear friction model is constructed for the joints to obtain an adequate dynamic model, and the weighted-least-squares estimator was applied in Ref. 14,15 . Farhat et al 16 proposed an optimization process to solve the identification problem of a three-DOF RPS parallel manipulator when nonlinear friction models are included.…”

Section: Introductionmentioning

confidence: 99%

An inertial parameter identification method of eliminating system damping effect for a six-degree-of-freedom parallel manipulator

Tang

Jiang

Tong

et al. 2015

Chinese Journal of Aeronautics

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A new simple and effective inertial parameter identification method based on sinusoidal vibrations of a six-degree-of-freedom parallel manipulator is proposed. Compared with previously known identification algorithms, the advantages of the new approach are there is no need to design the excitation trajectory to consider the condition number of the observation matrix and the inertial matrix can be accurately defined regardless of the effect of viscous friction. In addition, the use of a sinusoidal exciting trajectory allows calculation of the velocities and accelerations from the measured position response. Simulations show that the new approach has acceptable tolerance of dry friction when using a simple coupling parameter modified formula. The experimental application to the hydraulically driven Stewart platform demonstrates the capability and efficiency of the proposed identification method.

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Identification of dynamic and friction parameters of a parallel manipulator with actuation redundancy

Cited by 32 publications

References 28 publications

Adaptive computed torque control for a parallel manipulator with redundant actuation

Adaptive computed torque control for a parallel manipulator with redundant actuation

Adaptive compensation of dynamics and friction for a planar parallel manipulator with redundant actuation

An inertial parameter identification method of eliminating system damping effect for a six-degree-of-freedom parallel manipulator

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