A Controller Avoiding Dynamic Model Degeneracy of Parallel Robots During Singularity Crossing

Six, Damien; Briot, Sébastien; Chriette, Abdelhamid; Martinet, Philippe

doi:10.1115/1.4037256

Cited by 13 publications

(12 citation statements)

References 26 publications

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“…This control scheme proved reliable, but as said in the introduction, the tracking errors can lead to crossing failure on particular trajectories. Further improvements to this control scheme can be found in [51], [52].…”

Section: Trajectory Generation and Controlmentioning

confidence: 99%

Dynamics-Based Algorithm for Reliable Assembly Mode Tracking in Parallel Robots

2020

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Finding the current pose of the end-effector of a parallel robot is a problem, since its forward geometric model generally has several solutions. Current methods to address this problem operate mainly under the assumption that the robot never changes its assembly mode nor gets close to Type 2 singularities.Nonetheless, recent works proved that a parallel robot can change its assembly mode thanks to dedicated trajectory generation and control. Such a feature allows increasing the operational workspace of such manipulators. Hence tracking correctly the end-effector pose while crossing Type 2 singularities, is mandatory for a practical usage of this workspace enhancement method. However, on Type 2 singularities several solutions of the forward geometric model merge, making current tracking methods ineffective.To fill this gap, we propose a two-step pose-tracking methodology: First, a differential inclusion based on kinematics and dynamics is solved. Second, joint measurements are used to tighten resulting enclosures. The effectiveness of this method is discussed thanks to experimental data gathered on a planar parallel robot.

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Section: Trajectory Generation and Controlmentioning

confidence: 99%

Dynamics-Based Algorithm for Reliable Assembly Mode Tracking in Parallel Robots

2020

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“…However, a change of configuration with a platform under the quadrotors (all q i > 0) will require the crossing of a singularity. Still, the effective workspace of the robot could be extended using singularity crossing techniques already applied on standard parallel robots [16].…”

Section: B Mobility and Singularity Analysesmentioning

confidence: 99%

“…Equations ( 17) and ( 16) link the translational dynamics of the drones and the passive architecture dynamics through the reaction forces. Introducing (17) and the time derivative of (10) in (16) gives, skipping the mathematical calculations,…”

Section: Whole Robot Dynamicsmentioning

confidence: 99%

The Kinematics, Dynamics and Control of a Flying Parallel Robot With Three Quadrotors

Six

Briot

Chriette

et al. 2018

IEEE Robot. Autom. Lett.

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This paper deals with a novel flying mechanism. Inspired from parallel manipulators, this flying robot is composed of three quadrotors linked by a rigid articulated architecture composed of three legs and a platform. Associating quadrotor co-manipulation and rigid bodies, this new design offers novel possibilities for aerial robotics and manipulation. Previous work leads to the design of a flying parallel robot with two quadrotors. However, this robot did not allow the full control of the six degrees of freedom of its end-effector. With an additional quadrotor, this study seeks to obtain a full control of the platform position and orientation. To prove this property, the kinematic constraints are verified through screw theory. Then, the dynamic model is established and a decoupling property leads to the design of a specific controller for the platform and legs configurations. ADAMS/SIMULINK co-simulations validate the theoretical developments.

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“…Following the method of the displacement analysis realized for the 5R mechanism, the position vectors r r r i are determined solving Eqs. (6), and the computation of the generalized coordinates q i and 106q i is immediate.…”

Section: Inverse Displacement Analysis Of the Open Kinematic Chainsmentioning

confidence: 99%

“…Eventhough its simplicity, the five-bar planar parallel manipulator, 5R mechanism for brevity, has been extensively studied approaching issues like inverse-forward kinematics, singularity analysis, optimal workspace, kinematic calibration, topology optimization, robot performance and so on, see for instance [2][3][4][5][6][7]. On the other hand as occur for most parallel manipulators, limited workspace is a drawback of the 5R mechanism, e.g.…”

Section: Introductionmentioning

confidence: 99%

A Five-Bar Planar Parallel Manipulator with Two End-Effectors

Gallardo-Alvarado¹,

Rodríguez-Castro²,

Pérez-González³

et al. 2018

Preprint

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Parallel manipulators with multiple end-effectors bring us interesting advantages over conventional parallel manipulators such as improved manipulability, workspace and avoidance of singularities. In this work the kinematics of a five-bar planar parallel manipulator equipped with two end-effectors is approached by means of the theory of screws. As an intermediate step the displacement analysis of the robot is also investigated. The input-output equations of velocity and acceleration are systematically obtained by resorting to reciprocal-screw theory. In that regard the Klein form of the Lie algebra se(3) of the Euclidean group SE(3) plays a central role. In order to exemplify the method of kinematic analysis, a case study is included. Furthermore, the numerical results obtained by means of the theory of screws are confirmed with the aid of special software like ADAMS.TM

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A Controller Avoiding Dynamic Model Degeneracy of Parallel Robots During Singularity Crossing

Cited by 13 publications

References 26 publications

Dynamics-Based Algorithm for Reliable Assembly Mode Tracking in Parallel Robots

Dynamics-Based Algorithm for Reliable Assembly Mode Tracking in Parallel Robots

The Kinematics, Dynamics and Control of a Flying Parallel Robot With Three Quadrotors

A Five-Bar Planar Parallel Manipulator with Two End-Effectors

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