Real-time trajectory tracking control of a parallel robot with flexible links

Morlock, Merlin; Meyer, Niklas; Pick, Marc-André; Seifried, Robert

doi:10.1016/j.mechmachtheory.2020.104220

Cited by 26 publications

(15 citation statements)

References 18 publications

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“…The front end and rear end are parallel to the y axis. Then, the front or rear body can freely rotate around the y-axis, keeping the other body's angle intact [9] . The maximum twisting angle is 55 degrees.…”

Section: Resultsmentioning

confidence: 99%

Unmanned Drug Delivery Vehicle for COVID-19 Wards in Hospitals

Deshpande

Barale

Malemath

2021

j. of Comput. sci. res.

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The prime reason for proposing the work is designing and developing a low-cost guided wireless Unmanned Ground Vehicle (UGV) for use in hospitals for assistance in contactless drug delivery in COVID-19 wards. The Robot is designed as per the requirements and technical specifications required for the healthcare facility. After a detailed survey and tests of various mechanisms for steering and structure of UGV, the best mechanism preferred for steering articulated and for body structure is hexagonal as this approach provides decent performance and stability required to achieve the objective. The UGV has multiple sensors onboard, such as a Camera, GPS module, Hydrogen, and Carbon Gas sensor, Raindrop sensor, and an ultrasonic range finder on UGV for the end-user to understand the circumferential environment and status of UGV. The data and control options are displayed on any phone or computer present in the Wi-Fi zones only if the user login is validated. ESP-32 microcontroller is the prime component utilized to establish reliable wireless communication between the user and UGV.These days, the demand for robot vehicles in hospitals has increased rapidly due to pandemic outbreaks as using this makes a contactless delivery of the medicinal drug. These systems are designed specifically to assist humans in the current situation where life can be at risk for healthcare facilities. In addition, the robot vehicle is suitable for many other applications like supervision, sanitization, carrying medicines and medical equipment for delivery, delivery of food and used dishes, laundry, garbage, laboratory samples, and additional supply.

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Section: Resultsmentioning

confidence: 99%

Unmanned Drug Delivery Vehicle for COVID-19 Wards in Hospitals

Deshpande

Barale

Malemath

2021

j. of Comput. sci. res.

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“…This plant is similar to the so‐called Lambda Manipulator used in Reference 44, but with an additional degree‐of‐freedom related to the rotation of the third body (first node is on the base). Another similar manipulator was experimentally studied for control purposes in Reference 45. As well‐known, some advantages of the parallel machines are higher precision and velocities comparing with a similar serial manipulator.…”

Section: Methodology Validationmentioning

confidence: 99%

A non‐inherent parametric estimation for dynamical equivalence of flexible manipulators

Bastos

2022

Optim Control Appl Methods

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This study aims to develop a methodology for parametric estimation of flexible manipulators considering an equivalent underactuated manipulator with passive joints, which should allow better possibilities to control flexible systems when addressing challenging problems to reach a satisfactory tracking motion. Theoretically, this is achieved by a minimum number of internal dynamics variables needed for representing almost all dynamics of the system. The parametric estimation approach is based on the optimal control theory considering a robust, stable method. This methodology requires only measured/computed data that are system output. Validation occurs through a virtual plant of the flexible manipulator observing a numerical perspective. The systems studied have serial and parallel kinematics and are mounted on carts for more diverse applications and general possibilities of the methodology.

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“…However, this requires a differentially flat or minimum phase system. This could be achieved by changing the mechanical design of the system or by output redefinition, see, e.g., [45]. While output redefinition is quite simple, the close tracking of the original end-effector output is deteriorated.…”

Section: F Q(t F ) V(t F ) λ(T F ) μ(T F ) U(t F )mentioning

confidence: 99%

Tracking control for underactuated non-minimum phase multibody systems

et al. 2021

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We consider tracking control for multibody systems which are modeled using holonomic and non-holonomic constraints. Furthermore, the systems may be underactuated and contain kinematic loops and are thus described by a set of differential-algebraic equations that cannot be reformulated as ordinary differential equations in general. We propose a control strategy which combines a feedforward controller based on the servo-constraints approach with a feedback controller based on a recent funnel control design. As an important tool for both approaches, we present a new procedure to derive the internal dynamics of a multibody system. Furthermore, we present a feasible set of coordinates for the internal dynamics avoiding the effort involved with the computation of the Byrnes–Isidori form. The control design is demonstrated by a simulation for a nonlinear non-minimum phase multi-input, multi-output robotic manipulator with kinematic loop.

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Real-time trajectory tracking control of a parallel robot with flexible links

Cited by 26 publications

References 18 publications

Unmanned Drug Delivery Vehicle for COVID-19 Wards in Hospitals

Unmanned Drug Delivery Vehicle for COVID-19 Wards in Hospitals

A non‐inherent parametric estimation for dynamical equivalence of flexible manipulators

Tracking control for underactuated non-minimum phase multibody systems

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