On the modeling and composite control of flexible parallel mechanism

Luo, Lingen; Wang, S.; Mo, Jinqiu; Cai, Jiyuan

doi:10.1007/s00170-005-2554-8

Cited by 5 publications

(2 citation statements)

References 12 publications

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“…In this regard, Luo et al employed a perturbation method to separate slow and fast dynamics of a 3R planar parallel manipulator [12]. They used a composite controller comprising a feedback linearization method for the control of slow dynamics and Zero Vibration Derivative (ZVD) input shaping for vibration reduction, caused by elastic links.…”

Section: Introductionmentioning

confidence: 99%

Tracking Control and Vibration Reduction of Flexible Cable-Suspended Parallel Robots using a Robust Input Shaper

2017

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Abstract. The control of exible cable-driven parallel robots usually requires feedback not only from the joints, but also from the end-e ector pose or cable tension. This paper presents a new approach for reducing the vibration of exible cable-suspended robots, using only the feedback from the joints. First, the dynamic equations of a 6DOF cable-suspended parallel robot with elastic cables were derived by Gibbs-Appel formulation. Subsequently, three di erent control approaches were investigated based on the computational load and required sensors. As a result, a feedback linearization method based on the rigid model of the system was selected. In order to reduce the vibration, a robust input shaping method was employed to prevent excitation of natural modes. Simulation results revealed that the proposed approach leads to a noticeable vibration and settling time reduction in cases of low and high cable sti ness, respectively. Moreover, another simulation compared the presented approach with a composite controller, which used the feedbacks from the end-e ector and actuators. Thereafter, the performance of the approach in vibration reduction was quantitatively shown. Finally, experimental validation of the approach was accomplished by frequency analysis of the vibration obtained from the IMU sensor attached to the ende ector.

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Section: Introductionmentioning

confidence: 99%

Tracking Control and Vibration Reduction of Flexible Cable-Suspended Parallel Robots using a Robust Input Shaper

2017

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“…CKCCs are usually expressed in the form of nonlinear DAEs, which usually cannot be solved explicitly, making flexible modelling and control very complex [5]. The assumed modes method was applied to derive the flexible dynamic modelling of a 3-DOF parallel manipulator in [6]. Dynamic modelling using FEM is formulated only in [7] with consideration of the flexural deformation; however, the obtained equations are too complex for real-time control.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modelling and Trajectory Tracking of Parallel Manipulator with Flexible Link

Chen

Kong

Liu

et al. 2013

International Journal of Advanced Robotic Systems

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This paper mainly focuses on dynamic modelling and real‐time control for a parallel manipulator with flexible link. The Lagrange principle and assumed modes method (AMM) substructure technique is presented to formulate the dynamic modelling of a two‐degrees‐of‐freedom (DOF) parallel manipulator with flexible links. Then, the singular perturbation technique (SPT) is used to decompose the nonlinear dynamic system into slow time‐scale and fast time‐scale subsystems. Furthermore, the SPT is employed to transform the differential algebraic equations (DAEs) for kinematic constraints into explicit ordinary differential equations (ODEs), which makes real‐time control possible. In addition, a novel composite control scheme is presented; the computed torque control is applied for a slow subsystem and the H technique for the fast subsystem, taking account of the model uncertainty and outside disturbance. The simulation results show the composite control can effectively achieve fast and accurate tracking control

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Dynamic analysis of flexible linkage mechanisms under uniform temperature change

Hou

Zhang

2009

Journal of Sound and Vibration

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On the modeling and composite control of flexible parallel mechanism

Cited by 5 publications

References 12 publications

Tracking Control and Vibration Reduction of Flexible Cable-Suspended Parallel Robots using a Robust Input Shaper

Tracking Control and Vibration Reduction of Flexible Cable-Suspended Parallel Robots using a Robust Input Shaper

Dynamic Modelling and Trajectory Tracking of Parallel Manipulator with Flexible Link

Dynamic analysis of flexible linkage mechanisms under uniform temperature change

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