Trajectory Optimization Algorithm for a 4-DOF Redundant Parallel Robot Based on 12-Phase Sine Jerk Motion Profile

Hu, Shengqiao; Kang, Huimin; Tang, Hao; Cui, Zhengjie; Liu, Zhicheng; Ouyang, P. R.

doi:10.3390/act10040080

Cited by 6 publications

(5 citation statements)

References 21 publications

(22 reference statements)

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“…h x is from the base plane to D. The relevant model parameter information can be found in reference Ref. [9]. As shown in Figure 2, in the process of the robot extracting goods, the change of load will be reflected in its mass and volume, thus leading to the change of the position of the system's centroid.…”

Section: Construction Ofmentioning

confidence: 99%

“…ℎ is from the base plane to D. The relevant model parameter information can be found in reference Ref. [9].…”

Section: Construction Ofmentioning

confidence: 99%

“…In the joint space, the 12-phase sinusoidal shock curve is used as the motion trajectory; refer to Ref. [9]. The structure and dynamic parameters of the robot are shown in Table 3.…”

Section: Experiments 421 Experimental Designmentioning

confidence: 99%

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High Precision Hybrid Torque Control for 4-DOF Redundant Parallel Robots under Variable Load

Liu

Kang

et al. 2023

Actuators

Self Cite

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As regards the impact and chattering of 4-DOF redundant parallel robots that occur under high-speed variable load operating conditions, this study proposed a novel control algorithm based on torque feedforward and fuzzy computational torque feedback hybrid control, which considered both the joint friction torque and the disturbance torque caused by the variable load. First of all, a modified dynamic model under variable load was established as follows: converting terminal load change to terminal centroid coordinate change, then mapping to the calculation of terminal energy, and lastly, establishing a dynamic model for each branch chain under variable load based on the Lagrange equation. Subsequently, torque feedforward was used to compensate for the friction torque and the disturbance torque caused by the variable load. Feedforward torques include friction torque and nonlinear disturbance torque under variable load. The friction torque is obtained by parameter identification based on the Stribeck friction model, while the nonlinear disturbance torque is obtained by real-time calculation based on the modified dynamic model under variable load. Finally, dynamic control of the robot under variable load was realized in combination with the fuzzy computational torque feedback control. The experimental and simulation results show that the motion accuracy of the fuzzy calculation torque feedback and torque feedforward control of the three drive joints of the robot under variable loads is 49.87%, 70.48%, and 50.37% lower than that of the fuzzy calculation torque feedback. Compared with pure torque feedback control, the speed stability of the three driving joints under fuzzy calculation torque feedback and torque feedforward control is 23.35%, 17.66%, and 25.04% higher, respectively.

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Section: Construction Ofmentioning

confidence: 99%

“…ℎ is from the base plane to D. The relevant model parameter information can be found in reference Ref. [9].…”

Section: Construction Ofmentioning

confidence: 99%

See 1 more Smart Citation

High Precision Hybrid Torque Control for 4-DOF Redundant Parallel Robots under Variable Load

Liu

Kang

et al. 2023

Actuators

Self Cite

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“…A similar approach was proposed in [6], where the objective function included not only the integral of the squared jerk values but also the total execution time of the trajectory. The authors in [7] used the 12-phase sine profile for trajectories of a fast-moving robot, which leads to a more stable and accurate movement without sudden changes of torques, albeit at the cost of a slightly higher overall energy consumption. Trajectory optimization with the single goal of cycle time reduction using the chicken swarm optimization (CSO) method was described in [8].…”

Section: Introductionmentioning

confidence: 99%

Method for Robot Manipulator Joint Wear Reduction by Finding the Optimal Robot Placement in a Robotic Cell

et al. 2021

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We describe a method for robotic cell optimization by changing the placement of the robot manipulator within the cell in applications with a fixed end-point trajectory. The goal is to reduce the overall robot joint wear and to prevent uneven joint wear when one or several joints are stressed more than the other joints. Joint wear is approximated by calculating the integral of the mechanical work of each joint during the whole trajectory, which depends on the joint angular velocity and torque. The method relies on using a dynamic simulation for the evaluation of the torques and velocities in robot joints for individual robot positions. Verification of the method was performed using CoppeliaSim and a laboratory robotic cell with the collaborative robot UR3. The results confirmed that, with proper robot base placement, the overall wear of the joints of a robotic arm could be reduced from 22% to 53% depending on the trajectory.

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“…Recently, there has been a significant increase in construction of parallel robots [ 1 , 2 , 3 , 4 , 5 , 6 , 7 , 8 ]. Manipulators and parallel robots are more widely applied in industry.…”

Section: Introductionmentioning

confidence: 99%

Using a Development Platform with an STM32 Processor to Prototype an Inexpensive 4-DoF Delta Parallel Robot

Łaski¹,

Smykowski²

2021

Sensors

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This article presents a construction prototype of a delta 4-DoF (Degree of Freedom) parallel robot. The structure of kinematic chain was described and the problem of inverse kinematic was formulated and solved. The author also proposed a concept of a control system. The dynamics of the control object were specified, a decision upon the controller and its settings was made, as well as simulation control studies of manipulator drive were conducted. The article contains a description of prepared applications and procedures as well as the research results of the manipulator.

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Trajectory Optimization Algorithm for a 4-DOF Redundant Parallel Robot Based on 12-Phase Sine Jerk Motion Profile

Cited by 6 publications

References 21 publications

High Precision Hybrid Torque Control for 4-DOF Redundant Parallel Robots under Variable Load

High Precision Hybrid Torque Control for 4-DOF Redundant Parallel Robots under Variable Load

Method for Robot Manipulator Joint Wear Reduction by Finding the Optimal Robot Placement in a Robotic Cell

Using a Development Platform with an STM32 Processor to Prototype an Inexpensive 4-DoF Delta Parallel Robot

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