Efficient modeling and integrated control for tracking and vibration of a lightweight parallel manipulator including servo motor dynamics

Liang, Dong; Song, Yimin; Yang, Qi; Dong, Jiuzhi

doi:10.1016/j.ymssp.2020.107502

Cited by 11 publications

(2 citation statements)

References 46 publications

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“…D Liang et al establisheda rigid flexible coupling dynamic model of mechanical systems with modular features to reduce modeling workload. The experimental results showed that hybrid control effectively achieved good trajectory tracking accuracy of the end effector and effectively suppressed vibration [16]. F Zhao et al established a kinematic model of the suspension system and a finite element model of the forging for the stable operation of the dual forging robotic arm system, and further established a rigid flexible coupling model of the rigid flexible coupling robotic arm.…”

Section: Related Workmentioning

confidence: 99%

Waterbomb Origami Mechanism Pneumatic Manipulator Design Based on DH Parameter Method and Symmetric Folding Hypothesis

Xiao,

Yang,

Gao

2024

IEEE Access

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As robotics and materials science develop, origami mechanical structures have gradually attracted attention in the research field due to their lightweight, foldable, and multifunctional characteristics. As one of them, the water elastic origami mechanism, with its unique structure and flexibility, provides a new perspective and possibility for the design of pneumatic manipulators. This study proposes a research on the design of a pneumatic manipulator for a water elastic paper folding mechanism by the DH parameter method and the symmetric folding assumption, in response to the issue of insensitivity of the manipulator. Firstly, the dynamic factors of the hydroelastic mechanical mechanism, including its degree of freedom and reaction force, are explored. Secondly, the DH parameter method is used to design and optimize the configuration of the paper folding manipulator, making its operation more accurate and capable of handling more types of tasks. Finally, the symmetrical folding assumption is used to guide the design of the water elastic origami mechanism, in order to create a more stable and reliable pneumatic manipulator. Results showed that the recognition accuracy of cola bottles, dental floss boxes, cubes, cylinders, sponge cubes, and glasses boxes reached 100%. From this, it can be seen that these data clearly demonstrate that the object recognition system can maintain high recognition accuracy for various different objects and shapes, proving the effectiveness and reliability of the system.

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Section: Related Workmentioning

confidence: 99%

Waterbomb Origami Mechanism Pneumatic Manipulator Design Based on DH Parameter Method and Symmetric Folding Hypothesis

Xiao,

Yang,

Gao

2024

IEEE Access

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“…Various types of controllers are applied to the UM for the purpose of vibration suppression. For example, a hybrid control strategy is proposed by decoupling the rigid-flexible-coupled manipulator into two subsystems using singular perturbation theory; Liang et al 35 and Long et al 36 combined sliding mode controller and RL to successfully suppress the end vibration of hybrid-structured flexible manipulator. Meanwhile, the implementation of both controllers relies on the feedback signals from the sensors on the flexible links.…”

Section: Introductionmentioning

confidence: 99%

Cascade control of underactuated manipulator based on reinforcement learning framework

Jiang

Guo

Shu

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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In this article, we propose a cascade control framework to attenuate the residual vibration of the underactuated manipulator. The control framework is divided into two phases. In the first phase, a path generator trained by the reinforcement learning produces the leading signal for the tracking controller. In the second phase, the leading signal stabilizes the underactuated manipulator, and the adaptive proportional derivative controller is implemented to reduce the vibration. In the process, a novel path planning method is proposed to improve exploration efficiency, and a negative reward is introduced to avoid unsafe strategies and simulation instability. The effectiveness of the proposed control scheme is verified in the simulations of the double pendulum crane and the two-link flexible manipulator.

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Measurement and Application of Industrial Robot Jitter

Li,

Ma,

Zhang

et al. 2023

Lecture Notes in Computer Science

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Efficient modeling and integrated control for tracking and vibration of a lightweight parallel manipulator including servo motor dynamics

Cited by 11 publications

References 46 publications

Waterbomb Origami Mechanism Pneumatic Manipulator Design Based on DH Parameter Method and Symmetric Folding Hypothesis

Waterbomb Origami Mechanism Pneumatic Manipulator Design Based on DH Parameter Method and Symmetric Folding Hypothesis

Cascade control of underactuated manipulator based on reinforcement learning framework

Measurement and Application of Industrial Robot Jitter

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