Model-Based Control of a 3-DOF Parallel Robot Based on Identified Relevant Parameters

Díaz‐Rodríguez, Miguel; Valera, Ángel; Mata, Vicente; Vallés, Marina

doi:10.1109/tmech.2012.2212716

Cited by 59 publications

(30 citation statements)

References 26 publications

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“…10). These results indicate that considering the platform and legs as subsystem can improve speed in the calculation of dynamics for applications such as model-based control, see for example Díaz-Rodríguez et al (2013).…”

Section: Resultsmentioning

confidence: 92%

“…The kinematics and workspace analyses of the manipulator have been extensively studied in Carretero et al (2000a), Carretero et al (2000b), Tsai et al (2002), Li and Xu (2007), to name a few. On the other hand, despite the fact that inverse dynamic modelling is essential for optimal design, parameter identification (Mata et al, 2008), model-based control (Díaz-Rodríguez et al, 2013), and internal redundancy (Parsa et al, 2013) amongst others, few papers have focused on revisiting and comparing computationally-inexpensive methods in order to obtain the dynamic models that are cost-effective for real-time applications.…”

Section: Introductionmentioning

confidence: 99%

“…In fact, software architecture, for model based control (Díaz-Rodríguez et al, 2013), relies on minimizing computational task timing commonly constrained by fast sampling periods (Goodwin et al, 1992). Similarly, in other applications, such parameter identification (Mata et al, 2008), and internal redundancy (Parsa et al, 2013) few papers have focused on revisiting and comparing computationallyinexpensive methods in order to obtain the dynamic model of the 3-PRS configuration for cost-effective real-time applications.…”

Section: Introductionmentioning

confidence: 99%

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Solving the dynamic equations of a 3-PRS Parallel Manipulator for efficient model-based designs

2016

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Abstract. Introduction of parallel manipulator systems for different applications areas has influenced many researchers to develop techniques for obtaining accurate and computational efficient inverse dynamic models. Some subject areas make use of these models, such as, optimal design, parameter identification, model based control and even actuation redundancy approaches. In this context, by revisiting some of the current computationally-efficient solutions for obtaining the inverse dynamic model of parallel manipulators, this paper compares three different methods for inverse dynamic modelling of a general, lower mobility, 3-PRS parallel manipulator. The first method obtains the inverse dynamic model by describing the manipulator as three open kinematic chains. Then, vector-loop closure constraints are introduced for obtaining the relationship between the dynamics of the open kinematic chains (such as a serial robot) and the closed chains (such as a parallel robot). The second method exploits certain characteristics of parallel manipulators such that the platform and the links are considered as independent subsystems. The proposed third method is similar to the second method but it uses a different Jacobian matrix formulation in order to reduce computational complexity. Analysis of these numerical formulations will provide fundamental software support for efficient model-based designs. In addition, computational cost reduction presented in this paper can also be an effective guideline for optimal design of this type of manipulator and for real-time embedded control.

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Section: Resultsmentioning

confidence: 92%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Solving the dynamic equations of a 3-PRS Parallel Manipulator for efficient model-based designs

2016

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“…Known examples are, among others, the Agile Eye, the Shade and the Agile Wrist [5]- [7]. Feedback control schemes based on dynamic models, such as PID control with gravity compensation, have been proposed for specific SPM structures in [8]- [12]. The development of new types of SPMs typically includes a design optimization stage, so as to guarantee that the manipulator can safely operate within an a-priori fixed workspace [13]- [16].…”

Section: Introductionmentioning

confidence: 99%

Constrained Orientation Control of a Spherical Parallel Manipulator via Online Convex Optimization

Taunyazov

Rubagotti

Shintemirov

2018

IEEE/ASME Trans. Mechatron.

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Abstract-This paper introduces a new framework for the closed-loop orientation control of spherical parallel manipulators (SPMs) based on the online solution of a convex optimization problem. The aim of solving a constrained optimization problem is to define a reference position for the SPM that remains as close as possible to the ideal reference (i.e., the one for which the top mobile platform has the desired orientation), at the same time keeping the SPM within the set of configurations in which collisions between links and singular configurations are avoided (the so-called feasible workspace). The proposed approach relies on a recently introduced method for obtaining unique inverse kinematics for SPMs, and on a newly proposed method for generating an approximation of the feasible workspace suitable for fast online optimization. The proposed control scheme is experimentally tested on an Agile Wrist SPM prototype, confirming the performance expected from the theoretical formulation.

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“…[3], a nonlinear adaptive feed-forward controller was proposed for the control of the Hexaglide (a 6-degree-of-freedom (DOF) parallel robot) in addiction to a PD feedback term. [7,8]. In ref.…”

mentioning

confidence: 99%

Nonlinear control of parallel manipulators for very high accelerations without velocity measurement: stability analysis and experiments on Par2 parallel manipulator

2014

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This paper presents a comparison between control/state estimation methods applied on Par2 parallel manipulator for pick-and-place applications as well as a discussion about the mechanical vibrations issue that may become important when reaching very high accelerations. Real-time experiments were performed first to compare two controllers (a linear Proportional-Derivative controller and a nonlinear/adaptive Dual Mode (DM) controller) complied with the same High-Gain Observer (HGO) to estimate articular velocities, and second to compare three state observers (a Lead-lag-based, an Alpha-beta-gamma (ABG) and an HGO) complied with the same nonlinear DM controller. The stability analysis of the Par2 robot under the control of the proposed DM controller (complied with the HighGO for joint velocity estimation) is also provided. Some small mechanical vibrations were noted when reaching 20 G acceleration, which means that it can become an important issue for higher accelerations. Some suggestions are then made for future investigations to avoid/damp these vibrations.

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Model-Based Control of a 3-DOF Parallel Robot Based on Identified Relevant Parameters

Cited by 59 publications

References 26 publications

Solving the dynamic equations of a 3-PRS Parallel Manipulator for efficient model-based designs

Solving the dynamic equations of a 3-PRS Parallel Manipulator for efficient model-based designs

Constrained Orientation Control of a Spherical Parallel Manipulator via Online Convex Optimization

Nonlinear control of parallel manipulators for very high accelerations without velocity measurement: stability analysis and experiments on Par2 parallel manipulator

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