An Experimental Study of a Redundantly Actuated Parallel Manipulator for a 5-DOF Hybrid Machine Tool

Wang, Liping; Wu, Jun; You, Zheng

doi:10.1109/tmech.2008.2008096

Cited by 65 publications

(32 citation statements)

References 16 publications

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“…This applies to serial manipulators as well as to PKM without actuation redundancy as summarized in Paccot et al (2009) and Thanh et al (2009). However, since in case of RA-PKM more actuators are activated than required, decentralized control of RA-PKM naturally leads to conflicting control forces, reflected by undesired prestresses and an increased power consumption as observed in Saglia et al (2009),Valasek et al (2005, Wang et al (2009). Hence antagonistic control forces cannot be attributed to model uncertainties alone, as analyzed in Müller (2010), which could be minimized using model identification methods.…”

Section: Peculiarities Of Pkm With Actuation Redundancymentioning

confidence: 99%

Robust Modeling and Control Issues of Parallel Manipulators with Actuation Redundancy

Mueller¹

2011

Recent Advances in Robust Control - Theory and Applications in Robotics and Electromechanics

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G (q)q + C (q,q)q + Q (q,q, t) + J T (q) λ = u. ( 2 ) G is the generalized mass matrix of the tree-system, Cq represents generalized Coriolis and centrifugal forces, Q represents all remaining forces, including EE loads, and u are the generalized control forces. The Lagrange multipliers λ can be identified with the constraint reactions in cut-joints. The vector q ∈ V n represents the PKM configuration. The configuration space (c-space) of the PKM model is defined by the geometric constraints:V := {q ∈ V n |h (q) = 0} . ( 3 ) If J has locally full rank r, one can select δ := n − r joint variables, called independent coordinates, such that the admissible configurations q ∈ V are functions of these independent coordinates. This induces a coordinate partitioning. If the rank of J is constant, the c-space is smooth δ-dimensional manifold and δ is the DOF of the PKM, see Müller (2009). A configuration q where the rank of J changes is called a c-space singularity since then V is not a smooth manifold in q. Denote with q 1 and q 2 respectively the vector of dependent and independent coordinates, the velocity constraints can be written aswhere J = (J 1 , J 2 ),withJ 1 (q) ∈ R r,r , J 2 (q) ∈ R r,δ . By definition of independent coordinates J 1 has full rank, and the generalized velocities can be expressed aṡ q = Fq 2 ,w h e r eF :where the matrix F is an orthogonal complement of J because JF ≡ 0 . The time derivative of (5) yields the accelerationsq = Fq 2 +Ḟq 2 . Due to the existence of kinematic loops, PKM comprise passive joints and only the m control forces corresponding to the active joints are present in u.D e n o t ew i t hc ≡ (c 1 ,...,c m ) the vector of generalized control forces in the actuated joints, and let A be that part of F so that F T u = A T c. This means that if q a denote the vector of m actuator coordinates, thenq a = Aq 2 . Recent Advances in Robust Control -Theory and Applications in Robotics and Electromechanics www.intechopen.com Robust Modeling and Control Issues of Parallel Manipulators with Actuation Redundancy 5Projecting the motion equations (2) of the tree-system to the configuration space V,w i t ht h e help of the orthogonal complement F,andwith(5),yields G(q)q 2 + C (q,q)q 2 + Q(q,q, t) = A T (q) cwhere G := F T GF, C :=F T (CF + GḞ), Q := F T Q.The δ = n − m equations (6) together with the r dynamic constraints Jq +Jq = 0 yield a system of n ODE's in the n generalized coordinates q that govern the PKM dynamics when controlled via the generalized control forces c. The equations (6) have been first proposed by Voronets (1901) and are a special kind of Maggi's equations, Maggi (1901). They have been proposed for use in multibody dynamics in Angles & Lee (1988); Wehage & Haug (1982), and were put forward for PKM modeling in Cheng et al. (2003); Müller (2005); Thanh et al. (2009). The PKM control problem can now be represented as the control-affine control systeṁwith state vector x := (q 2 ,q 2 ),wheref is the drift vector field, and the columns g i , i = 1,...,m are the control vector f...

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Section: Peculiarities Of Pkm With Actuation Redundancymentioning

confidence: 99%

Robust Modeling and Control Issues of Parallel Manipulators with Actuation Redundancy

Mueller¹

2011

Recent Advances in Robust Control - Theory and Applications in Robotics and Electromechanics

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“…IDENTIFICATION PROCESS The platform's parameter identification is of crucial importance in the control implementation and for the simulator's frequency characterization [20], [21]. Herein, we expose an identification procedure used to estimate the mass, inertia, and friction parameters.…”

Section: Dynamics Of the Platformmentioning

confidence: 99%

Mechatronics, Design, and Modeling of a Motorcycle Riding Simulator

Arioui

Nehaoua

Hima³

et al. 2010

IEEE/ASME Trans. Mechatron.

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Abstract-This paper describes a new motorcycle riding simulator whose purpose is twofold: (1) it can be used as a training tool for new riders in different scenarios, such as a normal traffic environments or in dangerous riding situations (avoidance, emergency braking, nearly failing or slipping situations and bad weather conditions); and (2) it can be used to study cyclist behavior in such situations and rider-motorcycle interaction.Our studies have led to the development of an original five degrees-of-freedom (DOF) mechanical platform including double haptic feedback on the handlebar. The remaining components are the basic movements consisting of pitch, roll, and yaw. These components are gathered in a parallel kinematics-type platform to enhance the movement bandwidth of the two-wheeled riding simulator.Despite its simplicity, the particular appeal of this simulator lies in the possibility of reproducing important motorcycle movements and inertial effects which allow for the perception of sensations close to reality. The motivation behind the choice of platform movements and system actuation are described. Also, theoretical issues (modeling, identification and control aspects) and performance results are provided.

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“…12 Another 5-DOF hybrid mechanism, consisting of a 3-DOF 1 parallel manipulator with actuation redundancy and a 2-DOF worktable, was investigated. [13][14][15] Jiang et al 16 developed a 5-DOF hybrid-driven magnetic resonancecompatible robot for minimally invasive prostatic interventions. A 5-DOF surgical hybrid robot, which consists of a 3-DOF parallel module and a 2-DOF serial module, was designed.…”

Section: Introductionmentioning

confidence: 99%

“…Some designs of robot manipulators are very complex, since an application of the inferior-mobility robot manipulator demands a translatable table [6][7][8] or a rotatable one. [9][10][11] Also, the problem of achieving motion control is harder for the hybrid mechanism [12][13][14][15] with redundantly actuated joints than a non-redundantly actuated one. Likewise, the motion control of the robots 16,17 with passive joints is more difficult than those without passive joints.…”

Section: Introductionmentioning

confidence: 99%

Kinematics, dynamics, and control system of a new 5-degree-of-freedom hybrid robot manipulator

Guo

Cao

et al. 2016

Advances in Mechanical Engineering

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Hybrid robotic application is a continuously developing field, as hybrid robot manipulators have demonstrated clearly to possess benefits of both serial structures and parallel mechanisms. In this article, the physical prototype and the specially designed control system for a new 5-degree-of-freedom hybrid robot manipulator are developed. The mechanical structure, kinematics, dynamics, and control system of this robot manipulator are presented. A newly appropriate set of closed-form solutions, which can avoid multiple solutions, is proposed to address the inverse kinematics problem of this robot manipulator. Additionally, simulations of the kinematics and dynamics of this robot manipulator and the tests for the repeatability and accuracy of both the position and path are first simulated with two numerical examples and then conducted on the physical prototype.

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An Experimental Study of a Redundantly Actuated Parallel Manipulator for a 5-DOF Hybrid Machine Tool

Cited by 65 publications

References 16 publications

Robust Modeling and Control Issues of Parallel Manipulators with Actuation Redundancy

Robust Modeling and Control Issues of Parallel Manipulators with Actuation Redundancy

Mechatronics, Design, and Modeling of a Motorcycle Riding Simulator

Kinematics, dynamics, and control system of a new 5-degree-of-freedom hybrid robot manipulator

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