Direct and Inverse Dynamics Modeling of a 6-PUS Parallel Robot

Ruiz-Garcia, Javier; Chaparro-Altamirano, Daniel; Zavala-Yoé, Ricardo; Ramírez-Mendoza, Ricardo A.

doi:10.1109/icmeae.2013.8

Cited by 4 publications

(3 citation statements)

References 10 publications

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“…The analysis of the structures is accompanied by the kinematic and dynamic models that linked to controllers allowing to obtain the desired behaviours on the final effector. As for the dynamic calculation, the implementation of the position, velocity and acceleration derivatives of the final effector is considered to know the value of the forces to be exerted to perform a movement or vice versa [10]. Then, control algorithms such as PIDs (proportional, integral and derivative) are designed that work with linear models [11], or techniques such as Sliding Modes that base their operation on the non-linear model, considering system uncertainties and external disturbances [12,13].…”

Section: Introductionmentioning

confidence: 99%

Design of Dynamic Controllers for Continuous Paths on Parallel Platforms (Slide Modes and PD+)

2020

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A parallel robot is defined as a mechanism of closed kinematic chains with rigid movements, high speed, precision and better inertias, in respect to those with structures composed by open links. besides these configurations describe highly nonlinear behaviours, reflected in the complexity of their kinematic and kinetic models. Finally, these systems are integrated with control techniques that obtain the desired trajectories in this paper for continuous 3D printing applications. For this reason, the development of control techniques based on dynamics by torque control law using drivers for the actuators maintaining the desired torque are described, these control techniques allow to obtain continuous behaviours in the final effector in order to make uniform impressions for biopolymer scaffolds.

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Section: Introductionmentioning

confidence: 99%

Design of Dynamic Controllers for Continuous Paths on Parallel Platforms (Slide Modes and PD+)

2020

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“…[8]. However, the analytic expression for the inverse dynamics is more complicated for the 6-PUS robot than for the 3-SPS-1S robot.…”

Section: Dynamicsmentioning

confidence: 99%

“…For sake of clarity, some results here were taken from Refs. [2,3,8,9,17]. All the algorithms were run in MATLAB/Simulink.…”

mentioning

confidence: 99%

Analytical/Numerical Modelling of Two Parallel Robots as Laser Calibration Instruments Controlled by Classical/Intelligent Schemes

Zavala-Yoé¹,

Ramirez‐Mendoza²,

Chaparro-Altamirano³

et al. 2015

JCSE

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Industrial metrology deals with measurements in production environment. It concerns calibration procedures as well as control of measurement processes. Measuring devices have been evolving from manual theodolites, electronic theodolites, robotic total stations, to a relatively new kind of laser-based systems known as laser trackers. Laser trackers are 3D coordinate measuring devices that accurately measure large (and relatively distant) objects by computing spatial coordinates of optical targets held against those objects. In addition, laser trackers are used to align truthfully large mechanical parts. However, such aligning can be done in moving parts, for instance during robot calibration in a welding line. In this case, serial robots are controlled in order to keep a prescribed trajectory to accomplish its task properly. Nevertheless, in spite of a good control algorithm design, as time goes by, deviations appear and a calibration process is necessary. It is well known that laser tracker systems are produced by very well established enterprises but their laser products may result expensive for some (small) industries. We offer two parallel robot-based laser tracker systems models whose implementation would result cheaper than sophisticated laser devices and takes advantage of the parallel robot bondages as accuracy and high payload. The types of parallel robots evaluated were 3-SPS-1-S and 6-PUS. Modelling of the parallel robots was done by analytical and numerical techniques. The latter includes classical and artificial intelligence-based algorithms. The control performance was evaluated between classical and intelligent controllers.

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A novel hardware-in-the-loop device for floating offshore wind turbines and sailing boats

Giberti

Ferrari

2015

Mechanism and Machine Theory

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Direct and Inverse Dynamics Modeling of a 6-PUS Parallel Robot

Cited by 4 publications

References 10 publications

Design of Dynamic Controllers for Continuous Paths on Parallel Platforms (Slide Modes and PD+)

Design of Dynamic Controllers for Continuous Paths on Parallel Platforms (Slide Modes and PD+)

Analytical/Numerical Modelling of Two Parallel Robots as Laser Calibration Instruments Controlled by Classical/Intelligent Schemes

A novel hardware-in-the-loop device for floating offshore wind turbines and sailing boats

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