Configuration space control of a parallel Delta robot with a neural network based inverse kinematics

Uzunović, Tarik; Golubovic, Edin; Baran, Eray A.; Şabanoviç, Asif

doi:10.1109/eleco.2013.6713892

Cited by 14 publications

(9 citation statements)

References 12 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…For the dynamics (8) acceleration control with asymptotic convergence [29] can be applied as control strategy, similarly to the control presented in [30]. Disturbance acting on each joint can be estimated by disturbance observer [31] using first order low pass filter and estimated velocity and reference current information.…”

Section: A Independent Joint Controlmentioning

confidence: 99%

Three-dimensional contour tracking control of a parallel manipulator: Comparison of two control techniques

Uzunović

Baran

Golubovic

et al. 2014

2014 IEEE 23rd International Symposium on Industrial Electronics (ISIE)

Self Cite

View full text Add to dashboard Cite

In this paper a novel design for three-dimensional (3-D) contour controller is proposed. This design relies on dynamics projection to the moving Frenet-Serret frame defined for each point on reference trajectory. Contour controller consists of independent joint controller and additional sliding mode controller, added as corrective term. Control task is defined as contour tracking with constant tangential velocity. Contour controller was compared with independent joint controller designed as acceleration controller with first order disturbance observer. Reference trajectory is generated using time based spline approximation to provide smooth reference trajectory. Experimental results showed significant improvement that contour controller provides over independent joint control with relatively high velocity references.

show abstract

Section: A Independent Joint Controlmentioning

confidence: 99%

Three-dimensional contour tracking control of a parallel manipulator: Comparison of two control techniques

Uzunović

Baran

Golubovic

et al. 2014

2014 IEEE 23rd International Symposium on Industrial Electronics (ISIE)

Self Cite

View full text Add to dashboard Cite

show abstract

“…1, the forward problem is simplified as the problem that knowing three vertices and the length of the edges to obtain the fourth vertex coordinate (Qiang, 2008;Uzunovic, 2013;Xu, 2012). To get the direction vector n EF of the vector EF, utilize the vector equation as in (1).…”

Section: Forward and Inverse Kinematics Of Parallel Mechanismmentioning

confidence: 99%

Design of a Novel Force Feedback Master Manipulator

et al. 2015

View full text Add to dashboard Cite

This paper presents a novel master manipulator which specifically used in the operation of internal fixation of the pedicle screw. First, in consideration of the practical demand in this surgery, the mechanical design of parallel and serial mechanism is given according to specific design parameters. The mechanism consists of a three DOF of the improved Delta parallel mechanism to position the drill and a two DOF of a serial mechanism to adjust the posture. Then, the revised algorithm of the forward and inverse kinematics towards the improved Delta mechanism and the integral kinematics are illustrated. After that, the workspace and stiffness analysis are analyzed in three transformational directions to test its performance of maximum force feedback and stiffness. The analysis shows that this novel master manipulator meets the requirements in this specific spinal surgery.

show abstract

“…[12]. One of the recently introduced inverse kinematics algorithms like quadratic minimization [13] and [17] delivers robust and efficient inverse kinematics solutions .Masayuki Shimizu proposed an analytical methodology of inverse kinematic solution for 7 DOF manipulators with joint limits. This method focuses on finding the inverse kinematics solutions where the joint movements are constrained [16].…”

Section: IVmentioning

confidence: 99%

Robot arm manipulation using depth-sensing cameras and inverse kinematics

Mishra

Meruvia-Pastor

2014

2014 Oceans - St. John's

View full text Add to dashboard Cite

In this work we propose a new technique to manipulate a robotic arm which uses a depth camera to capture the user input and inverse kinematics to define the motion of the robotic arm. The presented technique is inexpensive to implement and easier to learn as compared to the current methods. Along with the easier manipulation of the robotic arm, the presented approach also adds some simple speech and gesture commands to control the end-effector which makes the interaction more intuitive.

show abstract

Configuration space control of a parallel Delta robot with a neural network based inverse kinematics

Cited by 14 publications

References 12 publications

Three-dimensional contour tracking control of a parallel manipulator: Comparison of two control techniques

Three-dimensional contour tracking control of a parallel manipulator: Comparison of two control techniques

Design of a Novel Force Feedback Master Manipulator

Robot arm manipulation using depth-sensing cameras and inverse kinematics

Contact Info

Product

Resources

About