Modal Decoupled Dynamics Feed‐Forward Active Force Control of Spatial Multi‐DOF Parallel Robotic Manipulator

Niu, Xinjian; Yang, Chifu; Tian, Bowen; Li, Xiang; Han, Junwei

doi:10.1155/2019/1835308

Cited by 9 publications

(6 citation statements)

References 41 publications

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“…At neutral pose the body axes {p} attached to the moving platform are parallel to and coincide with the inertial frame {B} fixed to the base with its origin at the geometric centre of the base platform. Kinematics and dynamics analysis of the 6 DOF parallel mechanisms has been well established and can be found in several literatures [9][10][11][12][13].…”

Section: Six Degrees Of Freedom Pm Kinematicsmentioning

confidence: 99%

Modal Space Controller for Hydraulically Driven Six Degree of Freedom Parallel Manipulator

Ogbobe¹,

Okoye²

2022

int. j. eng. mgmt. res.

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This paper presents the Modal space decoupled control for a hydraulically driven parallel mechanism has been presented. The approach is based on singular values decomposition to the properties of joint-space inverse mass matrix, and mapping of the control and feedback variables from the joint space to the decoupling modal space. The method transformed highly coupled six-input six-output dynamics into six independent single-input single-output (SISO) 1 DOF hydraulically driven mechanical systems. The novelty in this method is that the signals including control errors, control outputs and pressure feedbacks are transformed into decoupled modal space and also the proportional gains and dynamic pressure feedback are tuned in modal space. The results indicate that the conventional controller can only attenuate the resonance peaks of the lower eigenfrequencies of six rigid modes properly, and the peaking points of other relative higher eigenfrequencies are over damped, The further results show that it is very effective to design and tune the system in modal space and that the bandwidth increased substantially except surge (x) and sway (y) motions, each degree of freedom can be almost tuned independently and their bandwidths can be increased near to the undamped eigenfrequencies.

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Section: Six Degrees Of Freedom Pm Kinematicsmentioning

confidence: 99%

Modal Space Controller for Hydraulically Driven Six Degree of Freedom Parallel Manipulator

Ogbobe¹,

Okoye²

2022

int. j. eng. mgmt. res.

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“…Equation (3) requires that the amplitude of the given excitation signal on rotational direction should be small enough. Because when the rotation degree of freedom excitation signal is applied, the simplified model will 6 Complexity have a large modeling error relative to the original model. Due to the dynamic coupling characteristics between Dx and Ry, the motion on Dx and Ry both can excite dynamic parameters A I l,yy and Δz.…”

Section: Excitation Trajectorymentioning

confidence: 99%

“…Currently, the standard industrial control technique applied in PRMs is PID control, which neglected the complex dynamic characteristics of robots, so that it can hardly meet the requirement of fast and accurate motion [3,4]. During the past decade, several model-based control methods, such as computed torque control [5], dynamic feedforward control [6], and modal control [7,8], are used in controlling PRMs because of the excellent control accuracy and dynamic performance of these methods. However, these methods are all based on the dynamic model to design, which makes the control performance of these methods strongly depend on the accurate knowledge of the dynamic model.…”

Section: Introductionmentioning

confidence: 99%

Load Parameter Identification for Parallel Robot Manipulator Based on Extended Kalman Filter

et al. 2020

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Load is the main external disturbance of a parallel robot manipulator. This disturbance will cause dynamic coupling among different degrees of freedom and make heaps of model-based control methods difficult to apply. In order to compensate this disturbance, it is crucial to obtain an accurate dynamic model of load. However, in practice, the load is always uncertain and its dynamic parameters are arduous to know a priori. To cope with this problem, this paper proposes a novel and simple approach to identify the dynamic parameters of load. Firstly, the dynamic model of the parallel robot manipulator with uncertain load is established and the dynamic coupling caused by load is also analyzed. Then, according to the dynamic model, the excitation signal is designed and a weak nonlinear dynamic model is derived. Furthermore, the identification model is presented and the identification algorithm based on the extended Kalman filter is designed. Lastly, numerical simulation results, obtained using a six-degree-of-freedom Gough–Stewart parallel manipulator, demonstrate the good estimation performance of the proposed method.

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“…Another promising control method that can be considered to effectively reject disturbances in dynamic systems is active force control (AFC) as initially proposed by Johnson (1971) and later Davison (1976). The main advantage of the AFC method is its ability to reject any known or unknown and internal or external disturbances in the dynamic system effectively while keeping the system stable during the system’s operation (Burdess and Hewit, 1986; Niu et al , 2019). By properly estimate the inertia matrix, and accurately measure the acceleration and control force of the dynamic system, the robustness of AFC as a disturbance rejector can be triggered (Hewit and Burdess, 1981).…”

Section: Introductionmentioning

confidence: 99%

An active force controlled of small CMG-based satellite

Salleh

Suhadis

Varatharajoo

2021

AEAT

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Purpose This paper aims to investigate the attitude control pointing improvement for a small satellite with control moment gyroscopes (CMGs) using the active force control (AFC) method. Design/methodology/approach The AFC method is developed with its governing equations and integrated into the conventional proportional-derivative (PD) controller of a closed-loop satellite attitude control system. Two numerical simulations of an identical attitude control mission namely the PD controller and the PD+AFC controller were carried out using the MATLAB®-SimulinkTM software and their attitude control performances were demonstrated accordingly. Findings Having the PD+AFC controller, the attitude maneuver can be completed within the desired slew rate, which is about 2.14 degree/s and the attitude pointing accuracies for the roll, pitch and yaw angles have improved significantly by more than 85% in comparison with the PD controller alone. Moreover, the implementation of the AFC into the conventional PD controller does not cause significant difference on the physical structure of the four single gimbal CMGs (4-SGCMGs). Practical implications To achieve a precise attitude pointing mission, the AFC method can be applied directly to the existing conventional PD attitude control system of a CMG-based satellite. In this case, the AFC is indeed the backbone for the satellite attitude performance improvement. Originality/value The present study demonstrates that the attitude pointing of a small satellite with CMGs is improved through the implementation of the AFC scheme into the PD controller.

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Modal Decoupled Dynamics Feed‐Forward Active Force Control of Spatial Multi‐DOF Parallel Robotic Manipulator

Cited by 9 publications

References 41 publications

Modal Space Controller for Hydraulically Driven Six Degree of Freedom Parallel Manipulator

Modal Space Controller for Hydraulically Driven Six Degree of Freedom Parallel Manipulator

Load Parameter Identification for Parallel Robot Manipulator Based on Extended Kalman Filter

An active force controlled of small CMG-based satellite

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