Identification of Friction and Rigid-Body Dynamics of Parallel Kinematic Structures for Model-Based Control

Grotjahn, Martin; Heimann, Bodo; Abdellatif, Houssem

doi:10.1023/b:mubo.0000029426.05860.c2

Cited by 88 publications

(88 citation statements)

References 19 publications

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“…singularity elimination, dexterity improvement, and better load carrying ability [169]. However, the over-actuated structure poses difficulties in both modeling and control.…”

Section: Modeling and Control Ofmentioning

confidence: 99%

A Survey of Modeling and Control of Piezoelectric Actuators

Peng¹,

Xiongbiao²

2013

MME

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Piezoelectric actuators (PEAs) have been widely used in micro-and nanopositioning applications due to their fine resolution, fast responses, and large actuating forces. However, the existence of nonlinearities such as hysteresis makes modeling and control of PEAs challenging. This paper reviews the recent achievements in modeling and control of piezoelectric actuators. Specifically, various methods for modeling linear and nonlinear behaviors of PEAs, including vibration dynamics, hysteresis, and creep, are examined; and the issues involved are identified. In the control of PEAs as applied to positioning, a review of various control schemes of both model-based and non-model-based is presented along with their limitations. The challenges associated with the control problem are also discussed. This paper is concluded with the emerging issues identified in modeling and control of PEAs for future research.

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“…singularity elimination, dexterity improvement, and better load carrying ability [169]. However, the over-actuated structure poses difficulties in both modeling and control.…”

Section: Modeling and Control Ofmentioning

confidence: 99%

A Survey of Modeling and Control of Piezoelectric Actuators

Peng¹,

Xiongbiao²

2013

MME

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“…To estimate these numbers, identification of the dynamic parameters of the 3-RPS system can be helpful (Atkeson et al, 1985;Grotjahn et al, 2004;Farhat et al, 2008).…”

Section: Load Compensationmentioning

confidence: 99%

Posture control of a 3-RPS pneumatic parallel platform with parameter initialization and an adaptive robust method

Tao

Shang

Meng

et al. 2017

J. Zhejiang Univ. - Sci. C

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A control algorithm for a 3-RPS parallel platform driven by pneumatic cylinders is discussed. All cylinders are controlled by proportional directional valves while the kinematic and dynamic properties of the system are modeled. The method of adaptive robust control is applied to the controller using a back-stepping approach and online parameter estimation. To compensate for the uncertainty and the influence caused by estimations, a fast dynamic compensator is integrated in the controller design. To prevent any influence caused by the load applied to the moving platform changing in a practical working situation, the identification of parameters is taken as the initialization of unknown parameters in the controller, which can improve the adaptability of the algorithm. Using these methods, the response rate of the parameter estimation and control performance were improved significantly. The adverse effects of load and restriction forces were eliminated by the initialization and online estimation. Experiments under different situations illustrated the effectiveness of the adaptive robust controller with parameter initialization, approaching average tracking errors of less than 1%.

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“…It is known that the equations of motion can be constructed implementing various dynamic principles. Models suitable for the identification process have been developed by means of; the Newton-Euler formulation (Luh et al, 1980;Atkeson et al, 1986;Olsen & Bekey, 1986;Khosla, 1989), the Lagrange formulation (Ha et al, 1989;Sheu & Walker, 1991), Jourdain's principle of Virtual Power (Grotjahn et al, 2004), Gibbs-Appell equations of motion (Benimeli et al, 2003) and recently (Hardeman et al, 2006), a finite element based approach along with Jourdain's principle of Virtual Power was used to develop an automatic generation of the dynamic models for identification. In order to study the advantages/disadvantages of the integral and differential methods, a comparison was carried out.…”

Section: Dynamic Modelmentioning

confidence: 99%

“…For parallel manipulators, the direct approach has been applied (Renaud et al, 1993;Guegan et al, 2003;Farhat et al, 2008). Meanwhile, the indirect approach has been proposed (Grotjahn et al, 2004;Abdellatif et al, 2007). However, apart from error accumulation in each step, the separation of the parameters of a different nature is not straightforward as for open chain manipulators.…”

Section: Introductionmentioning

confidence: 99%