Hybrid Force/Position Control Hardware System Design and Force Servo Control Realization

Tang, Hai Tao; Liang, S.X.; Yao, Jian Tao; Guo, Lian He; Zhao, Yong Sheng

doi:10.4028/www.scientific.net/amr.317-319.685

Cited by 6 publications

(4 citation statements)

References 3 publications

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“…   d J w (27) Since the dimension of vector d is greater than 6, equation ( 27) is over-determined.…”

Section: Posture Adjustment Methods Based On Hybrid Control 41 Analys...mentioning

confidence: 99%

“…Kim added multiple active joints to the non-redundant parallel robot to construct a redundant parallel robot and used the independent control signals to control the redundant branches of the mechanism, which not only retains the good kinematic and static properties of the mechanism but also increases the effective workspace of the mechanism [26]. Tang et al proposed a hybrid control strategy for 5-DOF redundant drive parallel machine tools and used force servo control for redundant branches, which improved the stability and reliability of the machine tool motion [27]. Procházka et al used force control for the redundant axis of the RAPM with kinematic parameter error and used position control for the other axes, which improved the performance of the mechanism without mutual interference of the drive axes [28].…”

Section: Introductionmentioning

confidence: 99%

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Posture adjustment method of large aircraft components based on multiple numerical control positioners

Chu

et al. 2023

Int J Adv Manuf Technol

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In the digital assembly system of large aircraft components (LAC), multiple numerical control positioners (NCPs) are usually used as actuators to adjust the position and posture of LAC to realize the docking of LAC. The posture adjustment mechanism (PAM) composed of multiple NCPs is a redundant actuated parallel mechanism (RAPM). The traditional full position control (FPC) method may lead to interference between NCPs, resulting in the deformation of NCPs and bracket, affecting the service life of the equipment and the accuracy of posture adjustment. This paper proposes a posture adjustment method based on hybrid control, which divides the motion axes of the NCPs into the position control axis and the force control axis to avoid the internal force of posture adjustment caused by the cooperative motion error of the NCPs. The driving force of the axis of the RAPM under the same posture adjustment trajectory is uncertain. To further reduce the internal force of posture adjustment, a driving force distribution method based on the dynamic model of PAM is proposed. Then, the principle of selecting the position control axis of the PAM is analyzed, and the optimization strategy of the position control axis based on the condition number of the Jacobian matrix is studied to improve the motion performance of the PAM. Finally, the posture adjustment experiment of LAC is carried out. The results show that the hybrid control method based on the optimum contact force can significantly reduce the interaction force between NCPs, and can effectively avoid the deformation of NCPs and brackets. The experimental results of posture adjustment accuracy verification show that the optimization strategy of position control axis makes the accuracy of single posture adjustment meet the requirements of LAC docking, which can effectively improve the docking efficiency of LAC.

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“…   d J w (27) Since the dimension of vector d is greater than 6, equation ( 27) is over-determined.…”

Section: Posture Adjustment Methods Based On Hybrid Control 41 Analys...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Posture adjustment method of large aircraft components based on multiple numerical control positioners

Chu

et al. 2023

Int J Adv Manuf Technol

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show abstract

“…In this paper, a force-position hybrid control strategy is used for simultaneous force and position control, and redundant and non-redundant actuators are used for force and position control, respectively [26][27]. The non-redundant joints of the mechanism are driven by three servo motors, which act as position controllers.…”

Section: Research On Control Strategy Of Redundant Drive Parallel Mec...mentioning

confidence: 99%

Performance evaluation and dimensional optimization design of planar 6R redundant actuation parallel mechanism

Han,

Che,

Liu

et al. 2024

Robotica

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Aiming at the problems of small good workspace, many singular configurations, and limited carrying capacity of non-redundant parallel mechanisms, a full-redundant drive parallel mechanism is designed and developed, and its performance evaluation, good workspace identification, and scale optimization design are studied. First, the kinematics analysis of the planar 6R parallel mechanism is completed. Then, the motion/force transmission performance evaluation index of the mechanism is established, and the singularity analysis of the mechanism is completed. Based on this, the fully redundant driving mode of the mechanism is determined, and the good transmission workspace of the mechanism in this mode is identified. Then, the mapping relationship between the performance and scale of the mechanism is established by using the space model theory, and the scale optimization of the mechanism is completed. Finally, the robot prototype is made according to the optimal scale, and the performance verification is carried out based on the research of dynamics and control strategy. The results show that the fully redundant actuation parallel mechanism obtained by design optimization has high precision and large bearing capacity. The position repeatability and position accuracy are 0.053 mm and 0.635 mm, respectively, and the load weight ratio can reach 15.83%. The research results of this paper complement and improve the performance evaluation and scale optimization system of redundantly actuated parallel mechanisms.

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“…Iwatsuki et al (2010) took a redundant 5-DOF parallel mechanism as the research object and adopted force control to the redundant branches to ensure the flexibility of the mechanism and improve the position accuracy and stiffness of the mechanism. Tang et al (2011) proposed an HFPC strategy for a redundantly actuated 5-DOF parallel machine tool based on kinematics and dynamics analyses. The non-redundant branch is controlled by position to ensure the accuracy of machine tool, and the redundant branch is controlled by force to improve the dynamic performance.…”

Section: Introductionmentioning

confidence: 99%

Posture adjustment method for large components of aircraft based on hybrid force-position control

Chu

Huang

2020

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Purpose Flexible tooling for adjusting the posture of large components of aircraft (LCA) is composed of several numerical control locators (NCLs). Because of the manufacture and installation errors of NCL, the traditional control method of NCL may cause great interaction force between NCLs and form the internal force of LCA during the process of posture adjustment. Aiming at this problem, the purpose of this paper is to propose a control method for posture adjustment system based on hybrid force-position control (HFPC) to reduce the internal force of posture adjustment. Design/methodology/approach First of all, the causes of internal force of posture adjustment were analyzed by using homogeneous transformation matrix and inverse kinematics. Then, axles of NCLs were divided into position control axle and force control axle based on the screw theory, and the dynamic characteristics of each axle were simulated by MATLAB. Finally, a simulated posture adjustment system was built in the laboratory to carry out HFPC experiment and was compared with the other two traditional control methods for posture adjustment. Findings The experiment results show that HFPC method for redundant actuated parallel mechanism (RAPM) can significantly reduce the interaction force between NCLs. Originality/value In this paper, HFPC is applied to the control of the posture adjustment system, which reduces the internal force of LCA and improves the assembly quality of aircraft parts.

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Hybrid Force/Position Control Hardware System Design and Force Servo Control Realization

Cited by 6 publications

References 3 publications

Posture adjustment method of large aircraft components based on multiple numerical control positioners

Posture adjustment method of large aircraft components based on multiple numerical control positioners

Performance evaluation and dimensional optimization design of planar 6R redundant actuation parallel mechanism

Posture adjustment method for large components of aircraft based on hybrid force-position control

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