Control performance improvement of a parallel robot via the design for control approach

Synchronization Error-based Control Approach for an Industrial High-speed Parallel Robot

“…이러한 병렬로봇을 고속/고정밀 작업에 사용하기 위해서는 로봇 메커니즘의 설계와 로봇 제어기의 설계 두 가지 측면이 모두 중요하다. 병렬로봇의 메커니즘 설계와 제어 방법에 관하여 다양한 연구가 이루어져 왔는데, 메커니즘 설계 측면에서는 다양한 기구 메커니즘의 설계에 관한 연구가 이루어 져 왔고 [3][4][5] , 제어 측면에서는 축별 독립 제어 방법을 포함하여 평면 병렬 기구의 동기화 제어 방법 등에 관한 연구가 이루어져 왔다 [6][7][8][9][10][11] . 같다.…”

Integrated Mechatronic Design for Servo Mechanical Systems

“…Consequently, in order to help mechanical structure and controller of mechatronic system modeling simultaneously, the mechatronic system design methods must be integration. Accordingly, some of numerical based integrated design strategies for mechatronic system were proposed to some fields such as: aerospace [1][2][3], robotics [4][5][6] and manufacturing systems [7][8] in the early years. However, the dynamic models derived with the above integrated methods typically have a high order.…”

“…Thus, modifying system parameters of the leg linkage for the walking machine must be considered, and system performance is based on structural results (5) and (6) in tuning the controller parameters (7) at the same time. Therefore, following (5) and (6), two methods can be utilized to improve system performance, namely, variable input speed [18], which reduces kinetic energy for (5), and mass redistribution [5][6], which decreases both terms (5) and (6) simultaneously. Thus, the "complete force balancing" method based on mass redistribution was applied to enhance system performance.…”

Nonlinear adaptive task space control for a 2-DOF redundantly actuated parallel manipulator

“…So the nonlinear dynamics of the manipulators can be compensated and higher performance can be achieved with dynamic strategies. The traditional dynamic strategies are the augmented PD (APD) controller and compute-torque controller [7,8]. Furthermore, to gain a deep insight of the dynamics and the traditional dynamic strategies of parallel manipulators, Liu and Li [9] developed a unified approach to model and control parallel manipulators based on geometric projections, and Aghili [10] proposed a more generalized method to solve the dynamic problem of parallel manipulators.…”