Kinematic Modelling and Position Control of A 3-DOF Parallel Stabilizing Robot Manipulator

Latifinavid, Masoud; Azizi, Aydin

doi:10.1007/s10846-022-01795-x

Cited by 12 publications

(6 citation statements)

References 44 publications

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“…In order to control vibrations of various nonlinear/linear dynamic systems derived from engineering 2 , 14 , 17 – 20 , different control strategies have been developed 21 . Among those control strategies, one strategy, namely the sliding mode control (SMC), was proposed in 1992 by Utkin 22 , and has been wildly applied in engineering vibration control along with other SMC based strategies.…”

Section: Introductionmentioning

confidence: 99%

Chaotic vibration control of a composite cantilever beam

Liu,

Sun

2023

Sci Rep

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In this research, an adaptive control strategy adapted from fuzzy sliding mode control is established and applied in chaotic vibration control of a multiple-dimension nonlinear dynamic system of a laminated composite cantilever beam. The third order shearing effect on the vibration of the beam is considered in the nonlinear dynamic model establishment, and the Hamilton principle as well as the Galerkin method is employed. It is discovered that a multi-dimensional nonlinear dynamic system of the cantilever beam needs to be considered for accurate vibration estimation. Therefore, the control strategy appropriate for the chaotic vibration control of a multiple-dimension system of the laminated composite beam is necessary, and then proves to be effective in chaotic vibration control in numerical simulation.

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Section: Introductionmentioning

confidence: 99%

Chaotic vibration control of a composite cantilever beam

Liu,

Sun

2023

Sci Rep

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“…Ball detection, path planning, motion control, and the collecting mechanism are critical tasks that should be done by the robot. Avoiding dynamic obstacles is a common algorithm in designing robot movement strategies [1][2][3][4][5]. Edge detection algorithms are very popular in detecting tennis balls and path planning based on detection results [6].…”

Section: Introductionmentioning

confidence: 99%

Development of a Vision-Based Unmanned Ground Vehicle for Mapping and Tennis Ball Collection: A Fuzzy Logic Approach

Latifinavid

Azizi

2023

Future Internet

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The application of robotic systems is widespread in all fields of life and sport. Tennis ball collection robots have recently become popular because of their potential for saving time and energy and increasing the efficiency of training sessions. In this study, an unmanned and autonomous tennis ball collection robot was designed and produced that used LiDAR for 2D mapping of the environment and a single camera for detecting tennis balls. A novel method was used for the path planning and navigation of the robot. A fuzzy controller was designed for controlling the robot during the collection operation. The developed robot was tested, and it successfully detected 91% of the tennis balls and collected 83% of them.

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“…Owing to the complex structure of an AC, its dynamic model exhibits strong nonlinearity [4][5][6]. Considering the nonlinear dynamics, its control is a tough but attractive topic [7][8][9][10]. Generally, there are two types of control for cranes, open-and closed-loop controls [11].…”

Section: Introductionmentioning

confidence: 99%

Constraint-based adaptive robust tracking control of uncertain articulating crane guaranteeing desired dynamic control performance

Zhang

Yin

2023

Nonlinear Dyn

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Articulating crane (AC), a widely used crane, plays an essential role in various industrial activities. Owing to its strong nonlinearity and uncertainty, its tracking control remains challenging, particularly for precise dynamic tracking control. This paper proposes an adaptive diffeomorphism-constraint-based control (ADCBC) for a nonlinear AC to robustly achieve trajectory tracking while guaranteeing desired dynamic control performance (DDCP), considering (possibly rapid and irregular) time-variant uncertainty with unknown bounds. A user-definable hard-limiting function was used to guarantee the DDCP, including the requirement for steady-state tracking error and dynamic convergence speed. The desired trajectories and DDCP were formulated as equality and inequality servo constraints, respectively. A diffeomorphism approach was adopted to incorporate inequality servo constraints into equality servo constraints, yielding new equality servo constraints. Thus, the control task was converted to enable the transformed AC to follow the new equality servo constraints and was completed by a constraint-based control (CBC) scheme, where an adaptive law was established for the estimation of online uncertainty bounds to compensate for uncertainty. No approximations or linearizations were invoked. The effectiveness and robustness of the proposed ADCBC were confirmed through rigorous proofs and simulation results. To the best of our knowledge, this is the first endeavor in tracking control while guaranteeing the DDCP for uncertain AC-like systems.

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Kinematic Modelling and Position Control of A 3-DOF Parallel Stabilizing Robot Manipulator

Cited by 12 publications

References 44 publications

Chaotic vibration control of a composite cantilever beam

Chaotic vibration control of a composite cantilever beam

Development of a Vision-Based Unmanned Ground Vehicle for Mapping and Tennis Ball Collection: A Fuzzy Logic Approach

Constraint-based adaptive robust tracking control of uncertain articulating crane guaranteeing desired dynamic control performance

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