Application of hybrid force/position control on parallel machine for mechanical test

Flohic, Julien Le; Paccot, Flavien; Chanal, Hélène

doi:10.1016/j.mechatronics.2017.12.006

Cited by 16 publications

(6 citation statements)

References 14 publications

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“…Some examples include the hybrid method with impedance control [ 7 ] or even the backstepping method with a Hamilton controller [ 8 ]. Applications of the hybrid control method can be found in all types of robots, from a robot used for mechanical tests [ 9 ] to an upper limb rehabilitation robot [ 10 ]. Because of its versatility, the hybrid position/force control was chosen as the primary control method for the walking robot.…”

Section: Introductionmentioning

confidence: 99%

The Hybrid Position/Force Walking Robot Control Using Extenics Theory and Neutrosophic Logic Decision

Gal

Ciocîrlan

Vlădăreanu

2022

Sensors

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This paper presents a hybrid force/position control. We developed it for a hexapod walking robot that combines multiple bipedal robots to increase its load. The control method integrated Extenics theory with neutrosophic logic to obtain a two-stage decision-making algorithm. The first stage was an offline qualitative decision-applying Extenics theory, and the second was a real-time decision process using neutrosophic logic and DSmT theory. The two-stage algorithm separated the control phases into a kinematic control method that used a PID regulator and a dynamic control method developed with the help of sliding mode control (SMC). By integrating both control methods separated by a dynamic switching algorithm, we obtained a hybrid force/position control that took advantage of both kinematic and dynamic control properties to drive a mobile walking robot. The experimental and predicted results were in good agreement. They indicated that the proposed hybrid control is efficient in using the two-stage decision algorithm to drive the hexapod robot motors using kinematic and dynamic control methods. The experiment presents the robot’s foot positioning error while walking. The results show how the switching method alters the system precision during the pendulum phase compared to the weight support phase, which can better compensate for the robot’s dynamic parameters. The proposed switching algorithm directly influences the overall control precision, while we aimed to obtain a fast switch with a lower impact on the control parameters. The results show the error on all axes and break it down into walking stages to better understand the control behavior and precision.

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Section: Introductionmentioning

confidence: 99%

The Hybrid Position/Force Walking Robot Control Using Extenics Theory and Neutrosophic Logic Decision

Gal

Ciocîrlan

Vlădăreanu

2022

Sensors

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“…Multidimensional force loading has been widely used in the fields of component and material testing, 1,2 medical rehabilitation, 3,4 and so on. It is of great significance to carry out multidimensional force loading accurately.…”

Section: Introductionmentioning

confidence: 99%

Three-dimensional loading control of a pneumatic three-universal–prismatic–universal robot

Liu

Zhu

Zhao

et al. 2021

International Journal of Advanced Robotic Systems

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Multidimensional force loading has been widely used in the fields of component and material testing. The pneumatic-driven multidimensional force loading parallel mechanism can meet the requirements of complex force loading. A three-dimensional loading robot based on a pneumatic three-universal–prismatic–universal parallel mechanism is designed to apply time-varying three-dimensional loads on a target. Based on the principle of vector superposition, inverse and forward kinematics are deduced. A second-order mathematical model of a metal seal pneumatic cylinder driven by a flow proportional valve is established. Based on the immersion and invariance technique, the leakage flow in the cylinder is taken as the interference term and estimated. Meanwhile, because of the strong nonlinearity of the actuator, based on suitable disturbance estimation, the control rate of the system is designed through the sliding mode surface, and the stability of the control algorithm is analyzed on the basis of the Lyapunov stability theory. The experimental results show that the immersion and invariance controller exhibits a better control performance than the proportional–integral–differential controller: the steady-state control mean square error is reduced by approximately 21% on average and the dynamic (0.2 Hz) tracking mean square error is approximately 10.35 N.

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“…Similarly, Luces et al [22] presented an in-depth discussion of past research on parallel mechanism kinematic redundancy and indicated that primary advantages of the parallel mechanism with redundant actuation contain workspace enlargement, singularity elimination/avoidance, and joint-torque optimum distribution, yet redundant actuation is facing a valuable opportunity as well as great challenges, such as motion planning and control and calibration. Flohic et al [23] adopted a hybrid force/position control algorithm to conduct parallel kinematic machine for mechanical testing, and the control algorithm is illustrated on a Nooru-Mohammed test performed on a Gough-Stewart platform and validated experimentally on a five-bar parallel mechanism. Cazalilla et al [24,25] developed an adaptive controller for the 3-PRS parallel mechanism with consideration of some uncertainties; the simulation results show that the adaptive controller can greatly improve the trajectory tracking precision compared with the passivity-based controllers.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Tracking Control Study of a New Parallel Mechanism with Redundant Actuation

Zhang

Fang

Zhang

et al. 2020

International Journal of Aerospace Engineering

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Parallel mechanisms with redundant actuation are attracting numerous scholars’ research interest due to their inherent advantages. In this paper, an efficient trajectory tracking control scheme for the new redundantly actuated parallel mechanism by integrating force/position hybrid control with the combination of inertia feed-forward control and back propagation (BP) neural network PID control is proposed. The dynamic models including the joint space and task space are formulated explicitly in efficient and compact form by means of the principle of virtual work and d’Alembert formulations. The force/position hybrid control is implemented to perform trajectory tracking and optimize the driving force configuration in MATLAB/Simulink environment, before being applied to an actual parallel mechanism. The illustrative simulation results demonstrate that the force/position hybrid control scheme is available to provide good trajectory tracking performance. Simultaneously, the feasibility of the proposed control scheme is verified by comparison analysis with the aforementioned conventional control method.

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Application of hybrid force/position control on parallel machine for mechanical test

Cited by 16 publications

References 14 publications

The Hybrid Position/Force Walking Robot Control Using Extenics Theory and Neutrosophic Logic Decision

The Hybrid Position/Force Walking Robot Control Using Extenics Theory and Neutrosophic Logic Decision

Three-dimensional loading control of a pneumatic three-universal–prismatic–universal robot

Trajectory Tracking Control Study of a New Parallel Mechanism with Redundant Actuation

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