Dynamic Visual Servoing of A 6-RSS Parallel Robot Based on Optical CMM

Li, Pengcheng; Shu, Tingting; Xie, Wenfang; Tian, Wei

doi:10.1007/s10846-021-01402-5

Cited by 13 publications

(4 citation statements)

References 36 publications

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“…The parameters obtained from the links were used for the dynamic modeling of the Scara T6 and UR10 robots [34 and [35] which are shown in Table V From Eq. (31-33) considering negligible and replacing the calculated parameters, the dynamic equations for the Scara T6 robot were obtained: (34) (35) (36) In the same way, the dynamic equations for the UR10 robot were obtained by solving Eq. ( 31), (32), and (33).…”

Section: B Dynamic Modelmentioning

confidence: 99%

Mechatronics Design and Robotic Simulation of Serial Manipulators to Perform Automation Tasks in the Avocado Industry

Paredes,

Palomares,

Alva

et al. 2023

IJACSA

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Peru is considered one of the principal agroindustrial avocado exporters worldwide. At the beginning of 2022, the volume exported was 8.3% higher than in 2021, so the design and simulation of a pick and place and palletizing cell for agro-exporting companies in the Region of La Libertad was proposed. A methodology was followed that presented a flow diagram of the design of the cell, considering the size of the avocado and the dimensions of the box-type packaging. The forward and inverse kinematics for the Scara T6 and UR10 robots were developed in Matlab according to the Denavit-Hartenberg algorithm, and 3D CAD, dynamic modeling, and trajectory calculation were performed in Solidworks using a "planner" algorithm developed in Matlab, which takes into account the start and end points, maximum speeds, and travel time of each robot. Then, in CoppeliaSim, the working environment of the cell and the robots with their respective configurations are created. Finally, the simulation of trajectories is performed, describing the expected movement, getting the time of the finished task was calculated, where the Scara T6 robot had a working time of 1.18 s and the UR10 of 2.32 s. For 2023 -2025, its implementation is proposed in the Camposol Company located in the district of Chao -La Libertad, considering the dynamic control of the system.

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Section: B Dynamic Modelmentioning

confidence: 99%

Mechatronics Design and Robotic Simulation of Serial Manipulators to Perform Automation Tasks in the Avocado Industry

Paredes,

Palomares,

Alva

et al. 2023

IJACSA

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“…Using a camera to detect the end-effector position in space, the paper finally proposes a hybrid joint-task space computed torque control strategy, experimentally proven to be the most effective. Visual servoing is used also in [10] to improve the performance of controllers applied to a parallel 6-RSS robot. Three controllers were implemented and compared: a joint space controller, which does not rely on the camera feedback; a task space controller with visual feedback; and a visual servoing dynamic sliding mode controller.…”

Section: Introductionmentioning

confidence: 99%

An Experimental Investigation of the Dynamic Performances of a High Speed 4-DOF 5R Parallel Robot Using Inverse Dynamics Control

Righettini,

Strada,

Cortinovis

et al. 2024

Robotics

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High-speed pick-and-place industrial applications often use parallel kinematic robots due to their high stiffness and dynamic performance; furthermore, the latter not only depends on the mechanical characteristics of the robots but also on the control algorithm. The literature shows several theoretical contributions to such controllers, mainly tested at the simulation level or on simple proof-of-concept laboratory equipment that execute low-speed and simple trajectories. This paper presents an experimental investigation of the dynamic performance of an industrial high-speed 4-DOF 5R parallel robot designed for pick-and-place applications on moving objects. The inverse dynamics control in the task space is used as a control algorithm. The results show the contribution of all the components of the control algorithm to the motor torque, and the inverse dynamics controller performances are discussed also in comparison to those achievable with simpler PD or PID controllers in a joint space. Moreover, the paper shows the controller synthesis from a modern mechatronic point of view, and the effectiveness of the proposed solution for the tracking of complex high-speed trajectories in an industrial application.

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“…Employing external sensors for measurement will increase the system's complexity and cost. Additionally, if the data bandwidth of external sensors does not match the system's control bandwidth, it may lead to data processing delays, subsequently affecting the system's tracking performance [20,21]. Therefore, despite the issue of motion coupling among the drive chains of parallel platforms, designing control strategies in joint space still presents significant challenges [22][23][24].…”

Section: Introductionmentioning

confidence: 99%

Synchronization Control with Dynamics Compensation for Three-Axis Parallel Motion Platform

Zhou,

Gao,

Zhang

2024

Actuators

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The three-axis parallel motion platform (TAPMP) with a common stator has low motion inertia, enabling highly precise and high-speed motion over a large range of strokes. The primary challenge faced by the TAPMP lies in the mutual pulling exerted between the common stator motors during motion. The driving forces generated by the motors are closely associated with their synchronization motion, a connection often overlooked in the design of existing controllers. To address this issue, this paper presents a novel synchronization controller with dynamics compensation (SC–DC) to achieve motion synchronization between the three motors, ultimately enhancing the platform’s tracking accuracy in task space. In this SC–DC method, the synchronization error of the common stator motors is introduced to represent the synchronized motion relationship between adjacent motors, and a dynamic feedforward control is adopted to compensate for the motor’s driving force. The stability of the proposed controller is analyzed using Lyapunov theory, demonstrating the convergence of both the tracking error and synchronization error. Trajectory tracking simulations and experimental studies are conducted on the TAPMP. The results show that, compared to the augmented proportional-derivative controller with dynamic compensation, the proposed controller significantly reduces both the MAE of the tracking error and synchronization error on the q1 motor by 71.88% and 73.02%, respectively, demonstrating its performance advantages in trajectory tracking and synchronization.

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Dynamic Visual Servoing of A 6-RSS Parallel Robot Based on Optical CMM

Cited by 13 publications

References 36 publications

Mechatronics Design and Robotic Simulation of Serial Manipulators to Perform Automation Tasks in the Avocado Industry

Mechatronics Design and Robotic Simulation of Serial Manipulators to Perform Automation Tasks in the Avocado Industry

An Experimental Investigation of the Dynamic Performances of a High Speed 4-DOF 5R Parallel Robot Using Inverse Dynamics Control

Synchronization Control with Dynamics Compensation for Three-Axis Parallel Motion Platform

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