H&amp;#x221E; feedback control for Parallel mechanism and application to delta robot

Rachedi, Meryam; Bouri, Mohamed; Hemici, Boualem

doi:10.1109/med.2014.6961584

Cited by 9 publications

(6 citation statements)

References 8 publications

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“…where l i are the Lagrange multipliers; F PX , F PY , and F PZ are the applied external forces at the point P; t i are the applied external torques at the active joints. Note that equations (10) to (13) are functions of nine variables X P , Y P , Z P , 1i , and l i . Therefore, the equations will be solved with the constraint equations as equation (2).…”

Section: Kinematicsmentioning

confidence: 99%

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Experimental and simulation studies of motion control of a Delta robot using a model-based approach

Kuo

Huang

2017

International Journal of Advanced Robotic Systems

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Robot manipulators are mostly used to complete positioning tasks, and the conventional approach utilizes position-based control scheme, which converts a robot control problems to several motor control problems, where encoder signals are used to fulfill feedback control. This control scheme might not provide excellent positioning accuracy due to the lack of the dynamics of robot manipulators. This article presents a simple model-based control scheme to achieve the positioning control and applies the scheme to a Delta robot, which can perform the motion with three translational degrees of freedom. The proposed scheme first evaluates the applied torques of motors based on robot's kinematics and dynamics using the encoders, and then the evaluated torques are sent to controllers to fulfill feedback control. The entire control loop is little similar to torque control, but torque or current sensors are not used. To demonstrate the performances of the proposed scheme, not only the numerical simulations are performed but also the experimental work is conducted. Both results are compared with those by applying the position-based control. The results show that the proposed modelbased control scheme provides better positioning accuracy.

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Section: Kinematicsmentioning

confidence: 99%

“…2. The Lagrange multipliers l i can be obtained by solving equations (10) to (12), where the applied forces F PX , F PY , and F PZ are given. 3.…”

Section: Kinematicsmentioning

confidence: 99%

Experimental and simulation studies of motion control of a Delta robot using a model-based approach

Kuo

Huang

2017

International Journal of Advanced Robotic Systems

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“…e existing control strategies that have been applied to the parallel robot include PID control [7][8][9][10][11], calculated torque control [12][13][14][15][16][17], and sliding mode variable structure control [18][19][20]. ese methods have higher requirements on the model of the control object, and the operating conditions and operating environment are deterministic.…”

Section: Introductionmentioning

confidence: 99%

“…e method of calculating torque control is to simplify the dynamic model of each joint and carry out decoupling control, which can achieve linear control of each joint. In literature [12][13][14][15][16][17], the dynamics control of the robot is realized based on the computational torque control method which achieves a good trajectory tracking control. In order to improve the tracking performance of the system, various improvements and compensations are made to predict or calculate the torque in the literature, and the robustness of the system is analyzed.…”

Section: Introductionmentioning

confidence: 99%

Research on a LADRC Strategy for Trajectory Tracking Control of Delta High-Speed Parallel Robots

Liu

Cheng

Liu

et al. 2020

Mathematical Problems in Engineering

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In order to better track the planned trajectory of Delta high-speed parallel robot, this paper proposes a dynamics control strategy for Delta high-speed parallel robots based on the linear active disturbance rejection control (LADRC) strategy which realizes decoupling control through observing and compensating the coupling and internal and external disturbances between the three joints. Firstly, the structure and dynamics model of the Delta high-speed parallel robot are analyzed, respectively. Secondly, the control scheme of the Delta high-speed parallel robot dynamic LADRC strategy is constructed, and then, the system stability is analyzed. Taking a representative 8-shaped space helical variance trajectory as a given input of the system and a triangular wave as an external disturbance as given disturbance input of the system, simulations are carried out to demonstrate the effectiveness of the proposed LADRC strategy; results indicate that the system with the LADRC strategy has a good quick and precise real-time trajectory tracking and strong robustness.

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“…The main objective of this control strategy is to present good trajectory tracking even in the presence of model uncertainties. A similar control approach was proposed by Rachedi, Bouri and Hemici (2014) and applied to the Delta robot, which is a 3-DOF parallel mechanism. Moreover, there are many other control strategies that have been used to control different parallel architectures, from the traditional designs as the PID controller (AL-MAYYAHI; ALDAIR; CHATWIN, 2020) and the LQR control (YUN; to the more unconventional ones such as adaptive control (ANSARIESHLAGHI; EBERHARD, 2019), fuzzy control (WEN et al, 2019) and deep reinforcement learning (MA et al, 2019).…”

Section: Introductionmentioning

confidence: 99%

Robust Control of a 2-DOF parallel mechanism combining feedback linearization and H-infinity design.

Stevani¹

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This work presents the robust control of a nonlinear plant with uncertain parameters, in this case a 2-DOF parallel mechanism. First, the robot dynamic and kinematic models were computed using a new methodology based on the serial subsystems models that compose the parallel topology, which are later pieced together through mechanical constraints to form the complete parallel robot model. Then, a robust control architecture combining H ∞ design and feedback linearization was designed in order to guarantee robust performance and stability even in the presence of uncertain parameters in the model. To validate both mechanism's modeling and control, simulation results were provided.

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H∞ feedback control for Parallel mechanism and application to delta robot

Cited by 9 publications

References 8 publications

Experimental and simulation studies of motion control of a Delta robot using a model-based approach

Experimental and simulation studies of motion control of a Delta robot using a model-based approach

Research on a LADRC Strategy for Trajectory Tracking Control of Delta High-Speed Parallel Robots

Robust Control of a 2-DOF parallel mechanism combining feedback linearization and H-infinity design.

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