The study of the accuracy of the robot movement along a given path considering the workspace boundaries, velocity and inertial properties of the drive

Khalapyan, S. Y.; Rybak, Larisa; Kuzmina, V. S.; Kholoshevskaya, L. R.; Ignatov, Andrei; Попов, М. В.

doi:10.1088/1742-6596/1582/1/012074

J. Phys.: Conf. Ser.

2020

DOI: 10.1088/1742-6596/1582/1/012074

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The study of the accuracy of the robot movement along a given path considering the workspace boundaries, velocity and inertial properties of the drive

S. Y. Khalapyan¹,

Larisa Rybak

V. S. Kuzmina

et al.

Abstract: The paper considers the accuracy characteristics of a robot machine with a parallel structure as a control object. A specifically developed model of a planar 3-RPR mechanism with an electric drive based on a DC motor made it possible to experimentally study the dependence of the following robot output link accuracy according to the speed, weight and size characteristics of the drive and mechanism.

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Cited by 2 publications

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Analysis of workspace boundary for multi-robot coordinated lifting system with rolling base

Zhao,

Liu

et al. 2024

Robotica

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An improved Monte-Carlo algorithm is proposed to address the problem of an unclear workspace boundary in a multi-robot coordinated lifting system. The spatial configuration of a multi-robot coordinated lifting system with rolling base is analyzed, and the kinematics and static workspace of the system are established. To solve the workspace boundary, first, the error introduced by the layers is reduced using an intra-layer thinning method. Second, each layer is divided simultaneously based on rows and columns, and the initial boundary points are extracted by searching for the best value. Third, random three-dimensional points are added in the neighborhood, and pseudo-boundary points are removed using three-dimensional local spherical coordinates to achieve a high-precision solution for the workspace boundary. Finally, the workspace volume is used to analyze the influence of structural parameters on the workspace boundary. The results show that the lifting system has limited carrying capacity and a data reference for selecting the structural parameters by analyzing the factors that affect the workspace. Findings provide a basis for further studies on the structural configuration and optimization of the lifting system.

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Analysis of workspace boundary for multi-robot coordinated lifting system with rolling base

Zhao,

Liu

et al. 2024

Robotica

View full text Add to dashboard Cite

show abstract

Trajectory-tracking control of a planar parallel robot using generalized predictive control with constraints

Rodelo

Villa

Yime

2020

J. Phys.: Conf. Ser.

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This paper presents the generalized predictive control with constraints, implemented to a planar parallel robot in order to calculate and track the desired trajectory of the end-effector of this robot. The manipulator is driven by three brushless direct current motors, and each one has an encoder to measure the velocity and rotation angles of the motors. Three constraints were considered to interact with the control law: control signal, terminal response and the over impulse constraints. The performance of the control law is evaluated in the simulation environment using Matlab/Simulink with the physic model developed through simscape multibody. The angular position and velocity errors for each of the three motors were calculated. Likewise, the output torques for each one were estimated. The results proved that the control law proposed with the constraints imposed for each motors has a good efficiency with a stable response time of the robot in performing the trajectory tracking, contributing to the scientific community a strategy of predictive optimization of control actions with multiple constraints applied on parallel robots.

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The study of the accuracy of the robot movement along a given path considering the workspace boundaries, velocity and inertial properties of the drive

Cited by 2 publications

References 6 publications

Analysis of workspace boundary for multi-robot coordinated lifting system with rolling base

Analysis of workspace boundary for multi-robot coordinated lifting system with rolling base

Trajectory-tracking control of a planar parallel robot using generalized predictive control with constraints

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