PD control with gravity compensation for hydraulic 6-DOF parallel manipulator

Yang, Chifu; Huang, Qitao; Jiang, Hongzhou; Peter, O. Ogbobe; Han, Junwei

doi:10.1016/j.mechmachtheory.2009.12.001

Cited by 99 publications

(60 citation statements)

References 26 publications

(26 reference statements)

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“…On the other hand, researchers developed several model-based controllers depending on the fact that the closed-loop algorithms, rich enough with knowledge about the system dynamics, can compensate their nonlinearities. PD with gravity compensation or with desired gravity compensation were applied intending to achieve better performance than simple PD since it surpasses the effect of gravity [16], [17]. Computed torque (CT) control exploits the full knowledge about the nonlinear system dynamics, leading to a linear closed-loop system in terms of tracking error [18].…”

Section: Introductionmentioning

confidence: 99%

From Non-model-Based to Model-Based Control of PKMs: A Comparative Study

Saied

Chemori

Rafei

et al. 2018

Mechanisms and Machine Science

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Section: Introductionmentioning

confidence: 99%

From Non-model-Based to Model-Based Control of PKMs: A Comparative Study

Saied

Chemori

Rafei

et al. 2018

Mechanisms and Machine Science

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“…The proposed robust task-space trajectory tracking controller is based on a centralized proportional-integral-derivative (PID) control along with a nonlinear disturbance observer. The control schemes for parallel manipulator may be principally separated into two types, joint-space control established in joint-space coordinates (Davliakos and Papadopoulos, 2008;Honegger et al, 2000;Kim et al, 2000;Nguyen et al, 1992;Yang et al, 2010), and task-space control designed based on the task-space coordinates (Kim et al, 2005;Ting et al, 2004;Wu and Gu, 2005). The joint-space control approach can be readily employed as an assemblage of several independent single-input single-output (SISO) control systems using the data on each actuator feedback only.…”

Section: Introductionmentioning

confidence: 99%

Inverse dynamics and trajectory tracking control of a new six degrees of freedom spatial 3-RPRS parallel manipulator

Mohan

Corves

2017

Mech. Sci.

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Abstract. This paper presents the complete dynamic model of a new six degrees of freedom (DOF) spatial 3-RPRS parallel manipulator. The geometry parameters of the manipulator are optimized for a given constant orientation workspace. Further, a robust task-space trajectory tracking control is also designed for the manipulator along with a nonlinear disturbance observer. To demonstrate the efficacy and show the complete performance of the proposed controller, virtual prototype experiments are executed using one of the multibody dynamics software namely MSC Adams. The computer-based virtual prototype experiment results show that the manipulator tracking performance is satisfactory with the proposed control scheme. In addition, the controller parameter sensitivity and robustness analyses are also accomplished.

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“…Many methods in the literature were performed with gravity compensation to achieve precise control performance. [18][19][20] A hybrid method to achieve gravity balancing of a human leg over its range of motion is proposed in Banala et al 21 Incomplete gravity compensators for a 4-degree-of-freedom (DOF) humanlike manipulator are treated in Kim and Cho. 22 The stability and regulation performance of the closedloop system when the compensation for the gravitational torque is provided by a non-collocated controller is studied in Liu and Chopra.…”

Section: Introductionmentioning

confidence: 99%

A master–slave control method with gravity compensation for a hydraulic teleoperation construction robot

Huang

Yamada

et al. 2017

Advances in Mechanical Engineering

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This research develops a gravity compensation method that determines the mass of a task object easily and compensates for the external force caused by the task object when it is conveyed by a hydraulic teleoperation construction robot. Moreover, this study establishes a master-slave system for this robot; two joysticks act as the master, and an excavator with four links (fork glove, swing, boom, and arm) represents the slave. To compensate for the influence of gravity, a previous gravity compensation method is proposed and applied to the boom and arm. However, it is ineffective during the conveyance process especially when the task object is heavy because the driving force is influenced by gravity of the task object. Therefore, this research presents a gravity compensation method that can effectively determine the mass of a grasped object and compensate for the external force induced by its gravity, as verified through pressing, grasping, and conveying experiments.

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PD control with gravity compensation for hydraulic 6-DOF parallel manipulator

Cited by 99 publications

References 26 publications

From Non-model-Based to Model-Based Control of PKMs: A Comparative Study

From Non-model-Based to Model-Based Control of PKMs: A Comparative Study

Inverse dynamics and trajectory tracking control of a new six degrees of freedom spatial 3-RPRS parallel manipulator

A master–slave control method with gravity compensation for a hydraulic teleoperation construction robot

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