Kinematic and Workspace Analysis of Spherical 3RRR Coaxial Parallel Robot Based on Screw Theory

Marrugo, D.; Vitola, A.; Villa, J.L.; Rodelo, M.

doi:10.1109/ciima50553.2020.9290317

Cited by 2 publications

(2 citation statements)

References 26 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…So far, most studies have focused on the kinematic issues of RSPMs, while quite a few have referred to the dynamic control of these robots. For RSPMs, several studies have been reported on a variety of relevant problems, which include modeling of workspace in joint and Cartesian space [14][15][16][17], inverse and forward kinematic analysis to obtain analytically unique real-time solutions [18][19][20][21][22][23][24][25], design and optimization [26][27][28][29][30][31][32], design and robustness [33], singularity analysis, and derivation of Jacobian matrices [34,35]. However, the constrained kinematic analysis has gone unnoticed in the literature.…”

Section: Mathematical Modeling Challenges and Control Strategiesmentioning

confidence: 99%

See 1 more Smart Citation

Adaptive backstepping controller based on a novel framework for dynamic solution of an ankle rehabilitation spherical parallel robot

Ahmadi N,

Kamali Eigoli,

Taghvaeipour

2024

Robotica

View full text Add to dashboard Cite

This research offers an adaptive model-based methodology for autonomous control of 3-RRR spherical parallel manipulator (RSPM) based on a novel modeling framework. RSPM is an overconstrained parallel mechanism that has a variety of applications in medical procedures such as ankle rehabilitation because of its precision and accuracy. However, obtaining a complete explicit dynamic model of these mechanisms for tracking purposes has been a problematic challenge due to their inherent singularities, coupling effects of the limbs, and redundant constraints imposed by the intermediate joints. This paper presents a novel algorithm to obtain the analytical kinematic solutions of RSPMs based on the closed-loop vector method, which includes constraint analysis. By incorporating constrained kinematics into the dynamic model, a comprehensive explicit dynamic solution of the non-overconstrained version 3-RCC of RSPM is developed in task space, based on screw theory and the linear homogeneous property of algebraic equations on the manipulator twist. Based on the proposed computational framework, a robust self-tuning backstepping control (STBC) strategy is applied to the robot to overcome the effect of external disturbances and time-varying uncertainties. Furthermore, an observer-based compensation (OBC) method is presented for dealing with the nonlinear hysteresis loops of the ankle during trajectory tracking purposes. The closed-loop stability of the whole system including STBC and OBC is theoretically performed by Lyapunov methods. The proposed methodologies are validated by realistic co-simulations in different scenarios. For instant, in the presence of external disturbances, the maximum tracking error norm of STBC is 37.5% less than the sliding mode approach.

show abstract

Section: Mathematical Modeling Challenges and Control Strategiesmentioning

confidence: 99%

“…Using Eqs. ( 10), ( 11), ( 12), (14), and ( 15) and the vectors shown in Fig. 7, the angular velocity vector of moving links can be written as follows:…”

Section: Explicit Dynamics In Task Spacementioning

confidence: 99%