Control of parallel flexible five bar manipulator using QFT

Karande, Sandeep; Nataraj, P. S. V.; Gandhi, Prasanna S.; Deshpande, Manoj M.

doi:10.1109/icit.2009.4939693

Cited by 11 publications

(6 citation statements)

References 5 publications

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“…(22) y (23) para obtener la expresión de ω 3 presentada en la ec. (24). (24) De igual forma, se elimina ω 3 de las ecs.…”

Section: Cinemática Directa De Velocidadunclassified

“…Los avances en control para el mecanismo plano de cinco barras también han permitido utilizarlo en aplicaciones de teleoperación con Robótica Paralela como en el laboratorio PAROLA [23], que cuenta con un mecanismo de cinco barras, un robot Delta y un robot 3-RRR. Otros retos en cuanto al control de este mecanismo se adelantan para el caso de posicionamiento del efector para eslabones flexibles, logrado con investigaciones en control QFT realizado por [24], y el control basado en modelo para supresión de las vibraciones [25]. En este trabajo se presenta la primera parte de una investigación del mecanismo de cinco barras que está siendo desarrollada en la Universidad Tecnológica de Bolívar, Cartagena, Colombia.…”

Section: Introductionunclassified

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Computed torque control of a 2-RR planar parallel robot // Control por par calculado de un robot paralelo planar 2-RR

2017

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RESUMENSe presentan el diseño, la construcción y el control de un mecanismo planar de cinco eslabones con cinco juntas de revoluta y dos grados de libertad. Se implementó el control por par calculado en el espacio articular para lograr una trayectoria deseada. Se desarrolló la cinemática de posición y de velocidad, tanto directa como inversa, y únicamente la cinemática inversa de aceleración como parámetro requerido en la ley de control. El enfoque escogido para este robot paralelo es ventajoso puesto que permite obtener una ecuación dinámica similar al modelamiento convencional de robots seriales, lo cual facilita la implementación de técnicas de control no lineal. La validez del enfoque planteado y la funcionalidad del controlador se verifican experimentalmente mediante la generación de una trayectoria circular por el efector. A pesar de la concordancia entre la simulación y los resultados experimentales, se sugiere como futuro trabajo el cambio en la estrategia de control para compensar efectos no modelados del sistema.Palabras clave: CTC; Dinámica paralela; Control de robots; Mecanismo 5 barras; Robot planar 2-RR. ABSTRACTThe design, construction and control of a two degree-of-freedom planar mechanism with five bar and five joints are presented. Computed control torque strategy in the joint space was implemented in order to fulfill a kinematic task by the end effector. It was required the position and velocity kinematic full analysis of the robot, both direct and reverse. The control law needed only the acceleration reverse kinematic formulation. The dynamic model of this parallel robot was obtained using an advantageous approach that is typical of serial robots, making easier the non-linear control techniques implementation. The validity of the dynamic model approach and the functionality of the controller are experimentally verified in the generation of a circular path by the end effector. Although there is accordance between the simulation and the experimental results, future work to implement other non-linear control strategies are suggested given the no modeled effects present in the system.

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“…(22) y (23) para obtener la expresión de ω 3 presentada en la ec. (24). (24) De igual forma, se elimina ω 3 de las ecs.…”

Section: Cinemática Directa De Velocidadunclassified

Section: Introductionunclassified

Computed torque control of a 2-RR planar parallel robot // Control por par calculado de un robot paralelo planar 2-RR

2017

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“…This frequency domain method has ability to achieve two different points simultaneously: reduce the effect of plant uncertainty and satisfy performance specification which user decides. Robust control method QFT has been applied to various fields such as robust flight control systems design, distillation coloumn benchmark, robust stability of turbocharged diesel engine and position control of one link arm [20]- [23].The method has been applied other mechanisms too such as parallel flexible five bar manipulator and hydraulic driven stewart platform for tracking problem [24], [25]. In this study, we aim to cope with the vibration during high speed motion of 3P(S) 4 parallel manipulator which has uncertainty in the plant.…”

Section: Introductionmentioning

confidence: 99%

Vibration control of 3P(S)4 class parallel mechanisms for high speed applications using Quantitative Feedback Design

Avci

Kenmochi

Kawanishi

et al. 2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Parallel manipulators are in demand for highspeed industrial applications due to low inertia and high stiffness. However, vibration may still occur that limits the utilization of these manipulators for the operations at high speed. In this study, we cope with the residual vibration of the 3P(S)4 parallel mechanism that occurs at the end of highspeed motion. First, by using Lagrangian formulation, inverse dynamics of the mechanism is analyzed to linearize the system. To achieve robust control against residual vibration at high speed, Quantitative Feedback Theory is applied that utilizes templates and offers design transparency. As the challenge in this study is vibration, this frequency-domain robust control design approach has a potential to solve it. Verification of the applied method is conducted through high-speed motion experiments with PID and QFT methods. Settling time with QFT is 72% smaller compare to PID control.

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“…Still, a significant part of the literature reports only theoretical and numerical results or considers only single-link flexible manipulators [29] or serial robots. Especially, the literature on flexible link parallel robots is rare [16,35]. Thus this research aims at contributing to this field by presenting a complete process from modeling over end-effector trajectory tracking control design to the experimental validation with a flexible two-link parallel robot.…”

Section: Introductionmentioning

confidence: 99%

End-effector trajectory tracking of flexible link parallel robots using servo constraints

et al. 2022

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We apply the concept of servo constraints to end-effector trajectory tracking control of parallel robots with structural link flexibilities. Such servo constraints deliver the inverse robot model where solution approaches via projections are proposed, which transform the resulting differential-algebraic equations to ordinary differential equations. The applicable solution process depends on the existence and stability of the internal dynamics. When using the exact end-effector of flexible link robots as output, this internal dynamics is usually unstable. Then a two-point boundary value problem is considered in the framework of stable inversion to obtain the noncausal solution offline. This solution is used as a feedforward control, which is initially combined only with actuator feedback control. To also account for errors within the link flexibility, the well-known linear–quadratic regulator is adapted to end-effector trajectory tracking based on differential-algebraic equations. Finally, we propose a systematic input–output feedback linearization approach, which uses servo constraints for flexible link parallel robots. Here a minimum phase system is obtained by tracking a redefined end-effector output, which is an approximation of the exact end-effector position. All control concepts are validated experimentally with a parallel robot having a highly flexible link. The results allow us to compare different control approaches and show the superior performance of controllers that rely on a flexible multibody model in contrast to classical rigid multibody modeling.

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Control of parallel flexible five bar manipulator using QFT

Cited by 11 publications

References 5 publications

Computed torque control of a 2-RR planar parallel robot // Control por par calculado de un robot paralelo planar 2-RR

Computed torque control of a 2-RR planar parallel robot // Control por par calculado de un robot paralelo planar 2-RR

Vibration control of 3P(S)4 class parallel mechanisms for high speed applications using Quantitative Feedback Design

End-effector trajectory tracking of flexible link parallel robots using servo constraints

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