Dynamic Performance Evaluation of a Redundantly Actuated and Over-constrained Parallel Manipulator

Zhang, Haiqiang; Fang, Hairong; Jiang, Bing-Shan; Wang, Shuaiguo

doi:10.1007/s11633-018-1147-6

Cited by 22 publications

(7 citation statements)

References 32 publications

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“…Assuming the upper platform is a rigid body, and ignoring friction force of the kinematic joints as well as the uncertainties and external disturbances. e dynamic model can be established in terms of the principle of virtual work as follows [37] where X = [ 푧 훼 훽] represents the independent Cartesian task space vector, q = [ 푞 1 푞 2 푞 3 푞 4 ] 푇 is the joint space vector, F x is the force vector in the task space, is the force vector in joint space, M(X) and M(q) are the inertia matrix, C(X) and C(q) are the Coriolics and Centrifugal coefficient matrix, and G(X) and G(q) are the gravity vector.…”

Section: Controller Designmentioning

confidence: 99%

Adaptive Fuzzy Sliding Mode Control for a 3-DOF Parallel Manipulator with Parameters Uncertainties

et al. 2020

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Parallel manipulators possess the advantages of being compact structure, high stiffness, stability and high accuracy, so such parallel manipulators have been widely employed in application fields as diverse as parallel kinematic machine, motion simulator platform, medical rehabilitation device, and so on. Due to the complexity of the closed-loop structural system, an accurate dynamic model is very difficult to be derived in the absence of some uncertainties parameters and external disturbances. In order to improve the trajectory tracking accuracy with time-varying and nonlinear parameters, this paper addresses the design and implement of adaptive fuzzy sliding mode control (AFSMC) for a three-degree-of-freedom (DOF) parallel manipulator, where internal force term can be linearly separated into a regression matrix and a parameter vector that contains the estimated errors. Furthermore, fuzzy inference unit is utilized to modify the gain parameters in real-time by using the state feedback from the task space and the adaptive law is performed to update uncertainties in dynamic parameters. The proposed controller is deduced in the sense of Lyapunov theory to guarantee the stability while improving the trajectory tracking performance. Finally, simulation experiment results demonstrate that the proposed control method is insensitive to uncertainties and disturbances and permits to decrease the requirement for the bound of these uncertainties, which validate the effectiveness of the developed control method and exhibit good trajectory tracking performance compared with sliding mode control (SMC) and fuzzy sliding model control (FSMC).

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Section: Controller Designmentioning

confidence: 99%

Adaptive Fuzzy Sliding Mode Control for a 3-DOF Parallel Manipulator with Parameters Uncertainties

et al. 2020

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“…The detailed kinematic analysis has been developed indepth in our previous work [31], so herein, we do not repeat it.…”

Section: Kinematic Analysismentioning

confidence: 99%

Trajectory Tracking Control Study of a New Parallel Mechanism with Redundant Actuation

Zhang

Fang

Zhang

et al. 2020

International Journal of Aerospace Engineering

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Parallel mechanisms with redundant actuation are attracting numerous scholars’ research interest due to their inherent advantages. In this paper, an efficient trajectory tracking control scheme for the new redundantly actuated parallel mechanism by integrating force/position hybrid control with the combination of inertia feed-forward control and back propagation (BP) neural network PID control is proposed. The dynamic models including the joint space and task space are formulated explicitly in efficient and compact form by means of the principle of virtual work and d’Alembert formulations. The force/position hybrid control is implemented to perform trajectory tracking and optimize the driving force configuration in MATLAB/Simulink environment, before being applied to an actual parallel mechanism. The illustrative simulation results demonstrate that the force/position hybrid control scheme is available to provide good trajectory tracking performance. Simultaneously, the feasibility of the proposed control scheme is verified by comparison analysis with the aforementioned conventional control method.

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“…The dynamic formulation in task space of the 2RPU-2SPR redundantly actuated parallel mechanism has been derived based on our previous work addressed in the reference 42 MðXÞ…”

Section: Dynamic Model Of Parallel Mechanismmentioning

confidence: 99%

Non-singular terminal sliding mode control for redundantly actuated parallel mechanism

Zhang

Fang

Zou

2020

International Journal of Advanced Robotic Systems

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In this article, the trajectory tracking control is developed by implementing a non-singular terminal sliding mode control for the redundantly actuated parallel mechanism system. The proposed control scheme could guarantee that the tracking errors converge to zero asymptotically. The problem of singularity with regard to conventional terminal sliding mode control scheme can be eliminated with the presented novel non-singular terminal sliding mode surface as well. The corresponding stability of the proposed control scheme has also been proved theoretically in terms of Lyapunov method. In addition, simulations and experiments are conducted for trajectory tracking to validate the effectiveness of the proposed scheme. The illustrative results demonstrate that the proposed scheme is available to solve the uncertainties and external disturbances with self-tuning in real time. Furthermore, the prominent characteristics of the presented control scheme are quick convergence, high accuracy, and high robustness, which can achieve excellent tracking performance as compared with computed torque control scheme and conventional sliding mode control scheme.

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Dynamic Performance Evaluation of a Redundantly Actuated and Over-constrained Parallel Manipulator

Cited by 22 publications

References 32 publications

Adaptive Fuzzy Sliding Mode Control for a 3-DOF Parallel Manipulator with Parameters Uncertainties

Adaptive Fuzzy Sliding Mode Control for a 3-DOF Parallel Manipulator with Parameters Uncertainties

Trajectory Tracking Control Study of a New Parallel Mechanism with Redundant Actuation

Non-singular terminal sliding mode control for redundantly actuated parallel mechanism

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