Design and practical implementation of a Neural Network self-tuned Inverse Dynamic Controller for a 3-DoF Delta parallel robot based on Arc Length Function for smooth trajectory tracking

Rahimi, Saeed; Jalali, Hasan; Yazdi, Mohammad Reza Hairi; Kalhor, Ahmad; Masouleh, Mehdi Tale

doi:10.1016/j.mechatronics.2022.102772

Cited by 11 publications

(5 citation statements)

References 22 publications

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“…To solve the oscillation problem in the end‐effector, Rahimi proposed an on‐line NN self‐tuning inverse motion controller for high‐speed smooth trajectory tracking control of three degrees of freedom delta parallel robot. Compared with other dynamic and kinematic methods, the proposed method can reduce the end‐effector oscillation by up to 60% in practical implementation, which helped to solve the problem of end‐effector oscillation when the robot was running at high speed (Rahimi et al, 2022). Wu analyzed and experimentally evaluated the dynamics and control of the parallel pick‐and‐place robot, and proposed a fuzzy sliding mode variable structure controller which successfully controlled the chattering of the driving joint and reduced the error of the end‐effector of the robot (Robinson et al, 2021; G. Wu et al, 2021).…”

Section: Overview Of Control Theory and Methodsmentioning

confidence: 99%

A review for control theory and condition monitoring on construction robots

Shi

Bai

et al. 2023

Journal of Field Robotics

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The application of robotic technologies in building construction leads to great convenience and productivity improvement, and construction robots (CRs) bring enormous opportunities for the way we conduct design and construction. To get a better understanding of the trends and track the application of CRs for on‐site conditions, this paper conducts a systematic review of control models and status monitoring of CRs, which are two key aspects that determine construction accuracy and efficiency. Control accuracy and flexibility are primary needs for CRs applied in different scenes, so the control methods based on driving models are vitally important. Status monitoring on CRs contains knowledge in fault detection, intelligence maintenance, and fault‐tolerant control, and multiple objectives need to be met and optimized in the whole drive chain. Moreover, the state‐of‐the‐art is comprehensively summarized, and new insights are also provided to carry on promising researches.

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Section: Overview Of Control Theory and Methodsmentioning

confidence: 99%

A review for control theory and condition monitoring on construction robots

Shi

Bai

et al. 2023

Journal of Field Robotics

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“…The proposed method focused on link compliance which is the main source of the stiffness of these kinds of manipulators. For taking into account actuators' stiffness, stiffness properties of the servo, lead screw, and gearbox should be calculated 43 which is beyond the scope of this paper. The latter parameters can be obtained experimentally where a new coefficient will be added to the stiffness formula.…”

Section: Limb Stiffnessmentioning

confidence: 99%

An analytical approach to the stiffness calculation of statically indeterminate 3-DOF delta parallelogram-type parallel robot

Dastjerdi,

Sheikhi,

Tale Masouleh

2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper introduces an analytical approach entailing a clear physical meaning for calculating the stiffness of the 3-DOF Delta parallel robot. By defining suitable linear and torsion springs, the stiffness of the robot components in different postures and the stiffness coefficients of the indeterminate parallelogram under conceivable wrenches are comprehensively obtained. Moreover, the stiffness coefficients for each limb chain are assigned, and then by considering the assigned stiffness coefficients and static equilibriums the indeterminate problem of 3-RUU DPRs is solved. By reformulating the forward kinematics which takes into account the deflected components and based on the elastic properties, the deflection in each manipulator component is calculated and the amount of moving platform twist is obtained. The proposed approach is validated by the FEA method and results reveal that the maximum error of the proposed method is 0.1489° in the orientation and 0.1420 mm in translation compared to the FEA. Then to avoid the problem of different units of translation and orientation in indexing, the virtual work concept is used for assigning an index number.

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“…In order to solve the issue of system uncertainties, scholars have proposed many effective attempts [18][19][20][21][22][23][24][25]. There are currently two main types of algorithms: (1) neural network-based approximation algorithms; and (2) disturbance observer-based algorithms.…”

Section: Introductionmentioning

confidence: 99%

“…There are currently two main types of algorithms: (1) neural network-based approximation algorithms; and (2) disturbance observer-based algorithms. Neural network-based algorithms can leverage their powerful approximation ability to estimate system uncertainty [18]. In ref.…”

Section: Introductionmentioning

confidence: 99%

Fixed-Time Control of a Robotic Arm Based on Disturbance Observer Compensation

Zhang,

Pan,

et al. 2023

Processes

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Backstepping-based fixed-time tracking control is proposed for a robotic arm system to solve the problem of trajectory tracking control under system uncertainties, which ensures the robotic arm system can realize stable tracking control within a fixed time independent of the initial state of the system. In addition, to address the uncertainties in the robotic arm system, a control strategy based on disturbance observer compensation is designed, which provides feed-forward compensation through the accurate estimation of the system uncertainties and enhances the system’s robustness. Finally, a two-link robotic arm model is used for simulation experiments, and the comparison results show that the control scheme designed in this article can effectively improve the robotic arm’s tracking accuracy and convergence speed.

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Design and practical implementation of a Neural Network self-tuned Inverse Dynamic Controller for a 3-DoF Delta parallel robot based on Arc Length Function for smooth trajectory tracking

Cited by 11 publications

References 22 publications

A review for control theory and condition monitoring on construction robots

A review for control theory and condition monitoring on construction robots

An analytical approach to the stiffness calculation of statically indeterminate 3-DOF delta parallelogram-type parallel robot

Fixed-Time Control of a Robotic Arm Based on Disturbance Observer Compensation

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