The closed-form motion equation of redundant actuation parallel robot with joint friction: an application of the Udwadia–Kalaba approach

Jing, Hui; Pan, Muxuan; Zhao, Ruiying; Luo, Li; Wu, Linlin

doi:10.1007/s11071-018-4218-x

Cited by 27 publications

(18 citation statements)

References 30 publications

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“…For a Delta parallel robot, the driven motors are assembled in the active joints, which give occasion to the coupling effects of the active joints friction and the control input torques [23]. Those coupling effects may influence the control accuracy and are considered as a difficulty in the friction compensation control.…”

Section: The Motion Equation Of the Uncertain Delta Parallel Robot With Joints Frictionmentioning

confidence: 99%

Robust Control for Nonlinear Delta Parallel Robot With Uncertainty: An Online Estimation Approach

Zhao

Chen

2020

IEEE Access

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A series of fractional robust trajectory tracking controls are proposed for the Delta parallel robot with uncertainty. For the high speed and heavy load, the Delta parallel robot could not ignore the influences of the high nonlinearity (by the dynamics of the multiple closed-loops mechanism and the nonlinear joints friction) and the various kinds of uncertainties (i.e., the unknown dynamic parameters and external disturbances caused by the residual vibration). By formulating the motion equation of the Delta parallel robot, the nonlinearity is settled by a norm model based control design. The uncertainty considered in the paper is time-varying but unknown. An online estimation with an exponential type leakage term and dead-zone is construct to investigate the realtime information of the uncertainty. In virtue of the estimated information, two fractional robust trajectory tracking controls with the joints friction compensation are designed. Under the proposed controls, the system performance of the Delta parallel robot can be deterministically guaranteed (which includes uniform boundedness and uniform ultimate boundedness).INDEX TERMS Delta parallel robot, fractional robust control, trajectory tracking, online estimation.

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Section: The Motion Equation Of the Uncertain Delta Parallel Robot With Joints Frictionmentioning

confidence: 99%

Robust Control for Nonlinear Delta Parallel Robot With Uncertainty: An Online Estimation Approach

Zhao

Chen

2020

IEEE Access

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“…Suppose the mechanical system is subject to l(l < n) Paffian (holonomic or non-holonomic) constraints [23]:…”

Section: Udwadia-kalaba Equationmentioning

confidence: 99%

“…Chen et al [22] applied the approach to the trajectory tracking control of the mobile robot, by solving UKE to obtain the control input not make any linearization or approximations. For additional applications using UKE see [23][24][25][26][27][28].…”

Section: Introductionmentioning

confidence: 99%

An Approach to the Dynamics and Control of Uncertain Robot Manipulators

Yang

Zhang

et al. 2019

Algorithms

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In this paper, a novel constraint-following control for uncertain robot manipulators that is inspired by analytical dynamics is developed. The motion can be regarded as external constraints of the system. However, it is not easy to obtain explicit equations for dynamic modeling of constrained systems. For a multibody system subject to motion constraints, it is a common practice to introduce Lagrange multipliers, but using these to obtain explicit dynamical equations is a very difficult task. In order to obtain such equations more simply, motion constraints are handled here using the Udwadia-Kalaba equation(UKE). Then, considering real-life robot manipulators are usually uncertain(but bounded), by using continuous controllers compensate for the uncertainties. No linearizations/approximations of the robot manipulators systems are made throughout, and the tracking errors are bounds. A redundant manipulator of the SCARA type as the example to illustrates the methodology. Numerical results are demonstrates the simplicity and ease of implementation of the methodology.

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“…To deal with the lack of image stabilization accuracy, poor waterproofness of traditional robot platforms, and complex underwater camera environment, this paper designs a novel type of cable-driven underwater camera stabilized platform (CDUCSP). The designed CDUCSP belongs to the field of cable-driven parallel robots (CDPR), which replaces rigid links with multiple flexible cables, which effectively reduces the platform's motion inertia and expands the workspace [14]- [16]. In addition, the heavy driving device is placed in the base, so that the driving device and the mobile platform are separated, which effectively decreases difficulties in waterproofness and is more suitable for underwater work.…”

Section: Introductionmentioning

confidence: 99%

System Modeling and Motion Control of a Cable-Driven Parallel Platform for Underwater Camera Stabilization

et al. 2021

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Underwater camera platform's low image stabilization accuracy and poor waterproofness seriously restrict the quality of photos. In order to better cope with underwater camera work, this paper proposes a cable-driven underwater camera stabilized platform. It is a mobile platform driven in parallel by four flexible cables. To improve image stabilization accuracy and anti-interference performance, the system's dynamic model is established in a non-inertial reference frame. And the random water wave interference is modeled. Moreover, a novel double-loop integral-type global fast terminal sliding mode control strategy is designed. Lyapunov stability theory is used to analyze the stability of the strategy. Finally, by comparing with the existing global fast terminal sliding mode controller and traditional sliding mode controller, the designed controller is simulated and verified. The results show that the proposed control strategy not only has the advantages of fast response and robustness, but also has the characteristics of rapid convergence in a finite time and high accuracy. This method can provide a valuable reference for the development of underwater camera stabilized platforms.INDEX TERMS Cable-driven parallel robot, dynamic model, global fast terminal sliding mode control, underwater stabilized platform.

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The closed-form motion equation of redundant actuation parallel robot with joint friction: an application of the Udwadia–Kalaba approach

Cited by 27 publications

References 30 publications

Robust Control for Nonlinear Delta Parallel Robot With Uncertainty: An Online Estimation Approach

Robust Control for Nonlinear Delta Parallel Robot With Uncertainty: An Online Estimation Approach

An Approach to the Dynamics and Control of Uncertain Robot Manipulators

System Modeling and Motion Control of a Cable-Driven Parallel Platform for Underwater Camera Stabilization

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