Motor-mechanism dynamic model based neural network optimized computed torque control of a high speed parallel manipulator

Rapid and Automatic Zero-Offset Calibration of a 2-DOF Parallel Robot Based on a New Measuring Mechanism

“…This paper deals with the rapid and automatic zero offset calibration of a 2-DOF parallel robot [24]. We focus on: 1) the design of a new measuring mechanism to make the measurement process in a time and cost-effective manner; 2) the development of a simplified error model containing the zero offsets of the robot; 3) the development of an identification method to solve the nonlinear ill-conditioning problem and improve the identifiability; 4) the selection of optimal measurement positions to further improve the identifiability and the measurement efficiency.…”

Position tracking of a 3-PSP parallel robot using dynamic growing interval type-2 fuzzy neural control

“…In recent years, various model-based and model-free controllers have been designed for parallel robots [6][7][8][9][10]. Model-based mechanisms are often criticized for being computationally intensive while also making unrealistic simplifications.…”

“…Model-based mechanisms are often criticized for being computationally intensive while also making unrealistic simplifications. In [6], a more realistic model-based controller is proposed for a 2 DOF parallel robot that included the mechatronic dynamic model of the robot including the servomechanism. However, several simplifying assumptions are still made such as ideal rotation gates, no energy dissipation by friction and negligible inertial moments of distal and passive input links.…”

Dynamic modeling and control of a 3-DOF Cartesian parallel manipulator

“…Some researchers have controlled the parallel manipulator without considering the dynamics [14] or estimating the effect of the dynamics by using neural networks [15]. However, it is crucial to derive an effective dynamic model for controller design in order to achieve high performance machining or assembly.…”