Explicit dynamic modeling with joint friction and coupling analysis of a 5-DOF hybrid polishing robot

Guo, Feng; Pang, Yusong

doi:10.1016/j.mechmachtheory.2021.104509

Cited by 29 publications

(8 citation statements)

References 25 publications

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“…To formulate an accurate dynamic model, the system is decomposed into two sub-modules: the moving platform and the auxiliary blocks. Lagrangian theory is employed to calculate the corresponding dynamic equations [40,41]. Subsequently, the overall dynamic model of the system is derived.…”

Section: Dynamic Modeling Of the Tapmpmentioning

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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Section: Dynamic Modeling Of the Tapmpmentioning

confidence: 99%

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

Zhou,

Gao,

Zhang

2024

Actuators

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“…uA = [ ẋA + u1 ẏA + u2 żA + u3 γA + u4 βA + u5 αA + u6 ] T üA = [ ẍA + ü1 ÿA + ü2 zA + ü3 γA + ü4 βA + ü5 αA + ü6 ] T (17) where [ẋ A , ẏA , żA , γA , βA , αA ] T and [ẍ A , ÿA , zA , γA , βA , αA ] T are the velocity and acceleration of the reference point A when the moving platform is in rigid body motion.…”

Section: Dynamic Model Of Moving Platformmentioning

confidence: 99%

“…Published by Cambridge University Press. work principle method, and Kane method [17][18][19][20]. Dong et al [21] present a semi-analytical approach for elastodynamic modeling of Tricept robot based on the screw theory and combined with the dual properties of twist/wrench systems and a static condensation technique.…”

Section: Introductionmentioning

confidence: 99%

Rigid–flexible coupling dynamics analysis with joint clearance for a 5-DOF hybrid polishing robot

Guo

Wang

2021

Robotica

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SUMMARY Considering the polishing requirements for high-precision aspherical optical mirrors, a hybrid polishing robot composed of a serial–parallel manipulator and a dual rotor grinding system is proposed. Firstly, based on the kinematics of serial components, the equivalent load model for the parallel manipulator is established. Then, the elastodynamic model of kinematic branched-chains of the parallel manipulator is established by using the spatial beam element, and the rigid–flexible coupling dynamic model of the polishing robot is obtained with Kineto-elasto dynamics theory. Further, considering the dynamic properties of the joint clearance, the rigid–flexible coupling dynamic model with the joint clearance for the polishing robot is established. Finally, the equivalent load distribution of the parallel manipulator is analyzed, and the effect of the branched-chain elasticity and joint clearance on the motion error of the polishing robot is studied. This article provides a theoretical basis for improving the motion accuracy and dynamic performance of the hybrid polishing robot.

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“…Flexible joint manipulators have signi cant advantages over traditional rigid manipulators in terms of response speed, control accuracy, and load-to-weight ratio, but they are highly nonlinear and strongly coupled, which brings great challenges to controller design [1][2][3][4]. erefore, studying the random matrix network control and learning problems of exible joint manipulators has important theoretical signi cance and broad practical application prospects [5][6][7].…”

Section: Introductionmentioning

confidence: 99%

Trajectory Control Algorithm of Flexible Joint Manipulator Based on Random Matrix and Screw Theory

Guo

Da-shuai

2022

Mathematical Problems in Engineering

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Flexible articulated manipulators are often used for the task of tracking reference trajectories in space and have attracted much attention. Aiming at the uncertainty of the robot system, based on random matrix and screw theory, this paper constructs a trajectory control model of a flexible joint manipulator. In order to reduce the steady-state tracking error, a random matrix variable structure control method is introduced into the model, and a nonlinear spinor-like random matrix function is designed to improve the traditional random matrix surface. In the simulation process, the dynamic model of the series robot is firstly obtained according to the screw and random matrix equation, and the dynamic characteristics are analyzed. Combined with dynamic surface control technology, a neural network controller is designed to solve the problem of dimensional explosion and ensure that the tracking error converges to a small neighborhood of zero. The experimental results show that by using the observation value to replace the unmeasurable state of the system, combining it with the random matrix network to identify the unknown dynamics of the system, and designing the random matrix network controller, the tracking control of the system can be realized, and the tracking error can be ensured to converge to a small neighborhood of zero. The control system has a better control effect than traditional PID, the peak time is shortened by 45.83%, the adjustment time is shortened by 46.91%, the maximum overshoot is reduced by 51.35%, and the steady-state error after filtering is only 0.049, which is reduced by 47.31%. Effective interference signal and measurement noise are suppressed, and the quantitative observation performance of the flexible joint manipulator system is improved.

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Explicit dynamic modeling with joint friction and coupling analysis of a 5-DOF hybrid polishing robot

Cited by 29 publications

References 25 publications

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

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

Rigid–flexible coupling dynamics analysis with joint clearance for a 5-DOF hybrid polishing robot

Trajectory Control Algorithm of Flexible Joint Manipulator Based on Random Matrix and Screw Theory

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