Kinematic Task Space Control Scheme for 3DOF Pneumatic Parallel Robot

Hernández, Luis; Izaguirre, Eduardo; Rubio, E.; Urquijo, Orlando; Guerra, Jorge

doi:10.5772/15395

Cited by 5 publications

(5 citation statements)

References 15 publications

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“…Además, los tiempos de cálculo son demasiado largos para su uso en una aplicación de tiempo real. La cinemática inversa es más sencilla para este tipo de robots, ya que normalmente se realiza a través de una representación vectorial de la estructura del robot (Figura 8); de esta manera, se plantea una ecuación de cierre o suma vectorial y se opera teniendo en cuenta que deben utilizarse matrices de rotación de forma similar al análisis cinemático en robots seriales [57].…”

Section: Figura 8: Representación Vectorial Para El Cálculo De La Cinunclassified

Generalidades de robots paralelos

Barón¹,

Pinilla²

2016

Vis. Electron.

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Los robots paralelos son utilizados en diversas áreas como la simulación de movimiento, la medicina y la manufactura, entre otras. Se han diseñado y construido numerosos de ellos teniendo en cuenta aspectos como grados de libertad, modelos matemáticos que aproximan la dinámica real del sistema donde actúan, y las estrategias de control para que respondan adecuadamente ante perturbaciones. El presente artículo describe las generalidades de robots paralelos con el fin de dar a conocer sus aplicaciones industriales, arquitecturas y notación, métodos y representaciones matemáticas necesarias para el análisis de su movilidad, el cálculo de la cinemática y la dinámica presentes, el estudio del espacio de trabajo, así como las estrategias de control implementadas. Se describen las investigaciones y desarrollos futuros que pueden realizarse en esta área de la robótica, así como una amplia revisión bibliográfica que permite al lector incursionar profundamente en cualquier aspecto que le sea de interés.

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Section: Figura 8: Representación Vectorial Para El Cálculo De La Cinunclassified

Generalidades de robots paralelos

Barón¹,

Pinilla²

2016

Vis. Electron.

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“…The position control under stable operation fulfilled the condition: q ( t ) − q d ( t ) = 0; ∀ t > 0, under this assumption the digital design closed-loop control system is perform by considering a simple but satisfactory approximation of inner loop, i.e. the dynamic behavior of the decoupled position control loop is represented by one delay unit of the external loop [17], establishing that q ( k )- q d ( k-1 ) = 0; ∀ k > 0. Consequently the control scheme of Fig.…”

Section: Digital Control Problem Formulationmentioning

confidence: 99%

“…the dynamic behavior of the decoupled position control loop is represented by one delay unit of the external loop [17], establishing that q(k) qd(k1) = 0 ;  k > 0. Consequently the control scheme of Fig.…”

Section: Digital Control Problem Formulationmentioning

confidence: 99%

Cartesian Control of a 3-DOF Electro-Pneumatic Actuated Motion Platform with Exteroceptive Pose Measurement

Izaguirre

Hernández

Rubio

et al. 2011

International Journal of Advanced Robotic Systems

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This paper presents a kinematic cartesian control scheme of 3 degree of freedom parallel robot driven by electro-pneumatic actuators based on exteroceptive pose measurement system. The inverse kinematics model is used to obtain the desired joint position coordinates from the time-varying trajectory given in task space. The proposal cascade control scheme in task space is based in two loops, the inner loop consisting in a decoupled joint position control and the outer loop which is designed to obtain an appropriate task space trajectory tracking. In order to avoid the on-line computation of direct kinematics an arrangement of inertial sensor and optical encoders are employed to provide the accurate pose measurement of end-effector. The experimentʹs results demonstrate the great performance of the proposed control scheme in industrial motion tracking application.

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“…The implementation of control algorithms has proved to be a more complex problem. [1][2][3][4] Parallel robot actuators are linear movement pneumatic cylinders which turn the compressed air energy into mechanical work. Pneumatic actuators have got a wide industrial use nowadays due to their clean, low cost, fast response, high power-weight rate, and easy maintenance technology.…”

Section: Introductionmentioning

confidence: 99%

Proxy-based sliding mode control on platform of 3 degree of freedom (3-DOF)

et al. 2013

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Proxy-based sliding mode control, created by Ryo Kikuuwe and Hideo Fujimoto, combines the advantages of sliding mode control and proportional integral derivative controller. This paper implements this control algorithm on a platform of 3 degrees of freedom (3-DOF) driven by electropneumatic actuators with proportional flow valves. This paper presents an extension of proxy-based sliding mode control. This time it is implemented on a parallel robot. Despite the robot being a coupled system, is reached a perfect decoupled control. The simulations in MSC-ADAMS and experimental results demonstrate good tracking.

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Kinematic Task Space Control Scheme for 3DOF Pneumatic Parallel Robot

Cited by 5 publications

References 15 publications

Generalidades de robots paralelos

Generalidades de robots paralelos

Cartesian Control of a 3-DOF Electro-Pneumatic Actuated Motion Platform with Exteroceptive Pose Measurement

Proxy-based sliding mode control on platform of 3 degree of freedom (3-DOF)

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