The study of model predictive control algorithm based on the force/position control scheme of the 5-DOF redundant actuation parallel robot

Abstract

. (2016). The study of model predictive control algorithm based on the force/position control scheme of the 5-DOF redundant actuation parallel robot. Robotics and Autonomous Systems. DOI: 10.1016DOI: 10. /j.robot.2016 Citing this paper Please note that where the full-text provided on King's Research Portal is the Author Accepted Manuscript or Post-Print version this may differ from the final Published version. If citing, it is advised that you check and use the publisher's definitive version for pagination, volume/issue, and date of publication details. And where the final published version is provided on the Research Portal, if citing you are again advised to check the publisher's website for any subsequent corrections. General rightsCopyright and moral rights for the publications made accessible in the Research Portal are retained by the authors and/or other copyright owners and it is a condition of accessing publications that users recognize and abide by the legal requirements associated with these rights.•Users may download and print one copy of any publication from the Research Portal for the purpose of private study or research.•You may not further distribute the material or use it for any profit-making activity or commercial gain •You may freely distribute the URL identifying the publication in the Research Portal Take down policy If you believe that this document breaches copyright please contact librarypure@kcl.ac.uk providing details, and we will remove access to the work immediately and investigate your claim. AbstractRedundant actuated parallel robot is a multi-input and multi-output (MIMO) system which usually works in an uncertain environment. In this paper, the force/position hybrid control structure of 6PUS-UPU redundant actuation parallel robot is designed, proportional-integral (PI) and model predictive control (MPC) cascade control strategy are used in the redundant branch of 6PUS-UPU redundant actuation parallel robot. The MPC algorithm is used in the current loop of the permanent magnet synchronous motor (PMSM) to restrain the motor parameter uncertainty and external disturbances influence on motor control. The MATLAB/ADAMS joint simulation method based on virtual 6PUS-UPU redundant actuation parallel robot prototype is used to test the performance of the proposed control strategy. The performance of proposed PI-MPC control strategy is compared with the traditional PI-PI control strategy. The simulation results show that the MPC controller can improve the tracking ability of the motor torque, guarantee the system robustness under the parameter variations and load disturbance environment.

Fractional-order internal model control algorithm based on the force/position control structure of redundant actuation parallel robot

“…The dynamics modelling process of the 6PUS-UPU parallel robot by using KANE method is explained in our previous works. 32,33 In our previous research work, 32,33 the model of the mechanism is described in detailed, the dynamics model of the parallel robot is established, and the driving force is optimized. We also consider the uncertain interference for the 6PUS-UPU parallel robot, such as friction or backlash, and the uncertain interference is white Gaussian noise added in the sixth force branch.…”

Modeling Parallel Robot Kinematics for 3T2R and 3T3R Tasks Using Reciprocal Sets of Euler Angles

“…The second class allows for more variety, since the six-DoF mechanism and the five-DoF constraining leg can manifest in different kinematic structures: The UPS structure is used for the six-DoF part of the mechanism by [17] with a focus on kinematic analysis of 5UPS/US, by [18] with a focus on kinetostatic modeling at the example of 5UPS/RUU (see Figure 1a), by [19] with focus on trajectory control of 5UPS/PRPU and by [20] for pose measurement with the passive leg of 5UPS/PRPU. Other possible general base structures are RUS at the 5RUS/US example in [17], PUS, which has been investigated for the control of a redundantly actuated 6PUS/UPU regarding the force control of the redundant leg with inverse dynamics compensation [21] or force optimization [22].…”

Dexterity Robot Manipulator Gripper Using Auto Tuning of PID Control

“…Laplace transformation is one method to declare a signal equation in function of time. The robot can be controlled based on the position, velocity and acceleration [6]. Arm movements can shape the direction of movement and anti clockwise.…”