Kinematics control of a new 6 PUS-UPS/UPU parallel manipulator with variable mobility

Liang, Shunpan; Yanbin, Duan; Zheng, Kuijing; He, Junfeng; Dou, Yajie; Zhao, Yongsheng

doi:10.1109/mace.2010.5535295

Cited by 4 publications

(6 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In order to compare the advantages of the PI controller based on the identification model to the traditional PI controller clearly, we analyze the force error curves compared with the theory force, and calculate the degree of improvement of the driving force by Eq. (48).…”

Section: Simulation Results Of Two Controllersmentioning

confidence: 99%

“…On the basis of the results of the reference [48], the process of dynamics modeling will be introduced in this part. The modeling process includes analysis of velocity, angular velocity, and model of 6PUS-UPU redundant actuation parallel robot using KANE method [49].…”

Section: Dynamics Modelingmentioning

confidence: 99%

“…Without consideration the elastic deformation, the length of the link is a constant L. Then we can obtain the following Eq. (4) [48].…”

Section: Velocity Analysismentioning

confidence: 99%

“…[48], we can transform the structure parameter identification problem of 6-PUS/UPU parallel robot into the problem of searching an optimal solution of nonlinear equations. The classical least squares method (RLS), genetic algorithm or other algorithms is used to identify the parameters.…”

Section: Fuzzy Modelmentioning

confidence: 99%

See 3 more Smart Citations

Fuzzy Identification and Delay Compensation based on the Force/Position Control Scheme of the 5-DOF Redundantly Actuated Parallel Robot

Wen

Zhang

et al. 2016

Int. J. Fuzzy Syst.

View full text Add to dashboard Cite

This paper presents a fuzzy identification method for the dynamic model of the 6PUS-UPU redundantly actuated parallel robot. The T-S fuzzy model is the model of the whole system, the input is the pose of the moving platform and the output is the driving force. The fuzzy model is regarded as the feedback loop between the moving platform and the force branch. The dynamic model is built by Kane's method, and a novel closed-loop force/position hybrid control structure with the pose error for a complex multi-DOF spatial redundantly actuated parallel robot is developed. A proportional-integral force controller is presented based on the structure to obtain an optimal solution under the model identification. The proposed procedure is verified by Matlab/Adams simulation with a 6PUS-UPU simulation platform. The simulation results show that the proposed method is valid for designing the 5-DOF redundantly actuated parallel robot with the movable platform pose error. This paper designs the Smith predictor to solve the delay problem of the redundant force control branch.

show abstract

Section: Simulation Results Of Two Controllersmentioning

confidence: 99%

Section: Dynamics Modelingmentioning

confidence: 99%

“…Without consideration the elastic deformation, the length of the link is a constant L. Then we can obtain the following Eq. (4) [48].…”

Section: Velocity Analysismentioning

confidence: 99%

Section: Fuzzy Modelmentioning

confidence: 99%

See 2 more Smart Citations

Fuzzy Identification and Delay Compensation based on the Force/Position Control Scheme of the 5-DOF Redundantly Actuated Parallel Robot

Wen

Zhang

et al. 2016

Int. J. Fuzzy Syst.

View full text Add to dashboard Cite

show abstract

“…The authors of the work in [7]- [9] developed a method of the redundant actuation which can improve the dynamic performance. The author of the work in [10] proposed a novel 6PUS-UPU redundant actuation parallel robot. The author of the work in [11] proposed two methods to improve the position and force interaction control accuracy.…”

Section: Introductionmentioning

confidence: 99%

The study of model predictive control algorithm based on the force/position control scheme of the 5-DOF redundant actuation parallel robot

Wen

Qin

Zhang

et al. 2016

Robotics and Autonomous Systems

View full text Add to dashboard Cite

. (2016). The study of model predictive control algorithm based on the force/position control scheme of the 5-DOF redundant actuation parallel robot. Robotics and Autonomous Systems. DOI: 10.1016DOI: 10. /j.robot.2016 Citing this paper Please note that where the full-text provided on King's Research Portal is the Author Accepted Manuscript or Post-Print version this may differ from the final Published version. If citing, it is advised that you check and use the publisher's definitive version for pagination, volume/issue, and date of publication details. And where the final published version is provided on the Research Portal, if citing you are again advised to check the publisher's website for any subsequent corrections. General rightsCopyright and moral rights for the publications made accessible in the Research Portal are retained by the authors and/or other copyright owners and it is a condition of accessing publications that users recognize and abide by the legal requirements associated with these rights.•Users may download and print one copy of any publication from the Research Portal for the purpose of private study or research.•You may not further distribute the material or use it for any profit-making activity or commercial gain •You may freely distribute the URL identifying the publication in the Research Portal Take down policy If you believe that this document breaches copyright please contact librarypure@kcl.ac.uk providing details, and we will remove access to the work immediately and investigate your claim. AbstractRedundant actuated parallel robot is a multi-input and multi-output (MIMO) system which usually works in an uncertain environment. In this paper, the force/position hybrid control structure of 6PUS-UPU redundant actuation parallel robot is designed, proportional-integral (PI) and model predictive control (MPC) cascade control strategy are used in the redundant branch of 6PUS-UPU redundant actuation parallel robot. The MPC algorithm is used in the current loop of the permanent magnet synchronous motor (PMSM) to restrain the motor parameter uncertainty and external disturbances influence on motor control. The MATLAB/ADAMS joint simulation method based on virtual 6PUS-UPU redundant actuation parallel robot prototype is used to test the performance of the proposed control strategy. The performance of proposed PI-MPC control strategy is compared with the traditional PI-PI control strategy. The simulation results show that the MPC controller can improve the tracking ability of the motor torque, guarantee the system robustness under the parameter variations and load disturbance environment.

show abstract

Error Analysis and Measurement of 6PUS-UPS Parallel Machine Tool

Guo

Wang

Liang

et al. 2011

AMM

View full text Add to dashboard Cite

Firstly, structure component of the 6PUS-UPS PMT (Parallel Machine Tool) was introduced. Secondly, errors during the machine tool debugging were analyzed and measured, and those determined by the 6PUS-UPS PMT structure character were focused on, including the clearance error between the slider and the guide way, the vibration error and the verticality error and so on. Lastly, the verticality error was measured using the digital display micrometer and the frame level, which has great influence on the 6PUS-UPS PMT precision

show abstract

Kinematics control of a new 6 PUS-UPS/UPU parallel manipulator with variable mobility

Cited by 4 publications

References 0 publications

Fuzzy Identification and Delay Compensation based on the Force/Position Control Scheme of the 5-DOF Redundantly Actuated Parallel Robot

Fuzzy Identification and Delay Compensation based on the Force/Position Control Scheme of the 5-DOF Redundantly Actuated Parallel Robot

The study of model predictive control algorithm based on the force/position control scheme of the 5-DOF redundant actuation parallel robot

Error Analysis and Measurement of 6PUS-UPS Parallel Machine Tool

Contact Info

Product

Resources

About