Nonlinear adaptive task space control for a 2-DOF redundantly actuated parallel manipulator

Shang, Weiwei; Cong, Shuang

doi:10.1007/s11071-009-9520-1

Cited by 43 publications

(44 citation statements)

References 22 publications

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“…To deal with the trajectory tracking control problem of the parallel manipulator, it is easy to find that many advanced controllers have been proposed and successfully implemented, like proportional-integralderivative control [5], sliding mode control [6], adaptive control [7,8], robust control [9,10], robust PID control [11], adaptive sliding mode control [12], adaptive robust control [13], fuzzy control [14] neural network control [15], fuzzy neural network control [16], and so on.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Tracking Control of Parallel Manipulator Based on Udwadia‐Kalaba Approach

Zhao

Zhen

et al. 2017

Mathematical Problems in Engineering

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There have been many approaches for achieving the trajectory tracking control of parallel manipulator. However, these approaches are complex for calculating Lagrangian multipliers. In this paper, unlike the former approaches, a new approach of trajectory tracking control which is based on Udwadia-Kalaba approach is presented. Using this methodology, we can obtain a concise and explicit equation of motion and consider holonomic and nonholonomic constraint whether it is ideal or nonideal simultaneously. The most important difference is that we divide constraints into structural constraints and performance constraints in this paper. Structural constraints are used to establish dynamic model without regard for trajectory control. And performance constraints are used to represent the desired trajectory. For the parallel manipulator, a nonlinear dynamics system, its constraint forces are obtained by second-order constraints. And the numerical simulation in MATLAB shows the parallel manipulator's movement meets the requirement; tracking trajectory is exact and perfect. Through this paper, we can see that the method can simplify calculation availably.

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Section: Introductionmentioning

confidence: 99%

Trajectory Tracking Control of Parallel Manipulator Based on Udwadia‐Kalaba Approach

Zhao

Zhen

et al. 2017

Mathematical Problems in Engineering

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“…Some scholars proposed some approaches to evade type II singularities of PMs, including the approach of compromising the workspace-to-footprint ratio [10], the approach of switching working modes [8,11], the approach of path planning [12], the approach of redundancy [3,9,[13][14][15][16][17][18][19][20][21] and so forth. These approaches can conquer type II singularities within workspace of a certain PM to some extent.…”

Section: Introductionmentioning

confidence: 99%

Optimum design of a novel redundantly actuated parallel manipulator with multiple actuation modes for high kinematic and dynamic performance

et al. 2015

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A novel redundantly actuated parallel manipulator with multiple potential actuation modes is proposed in this paper to conquer the drawbacks of the traditional planar 5R parallel manipulator. Firstly, some feasible topology configurations are presented and then an optimum scheme was achieved through some selection criteria. Kinematic analysis indicates that the redundant actuation modes have remarkable advantage over the non-redundant actuation modes because the redundant actuation ones can completely conquer the type II singularities within the theoretical reachable workspace. To investigate the dynamics, the Lagrangian formulation is employed to establish the uniformly dynamic model of the proposed parallel manipulator with multiple actuation modes. Based upon the dynamic model, two global dynamic performance indices are proposed for minimization by taking into accounts both inertia and centrifugal/Coriolis effects. Finally, the dynamic dimensional synthesis is performed subject to geometric constraints and some kinematic performance constraints. By using this approach, the designer can obtain a set of optimum dimensional parameters satisfying both the kinematic and dynamic performance. This approach can be extended to the optimum design for other high-speed parallel manipulators, especially for the ones with multiple actuation modes.

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“…However, the proposed controller showed several limitations that restricted its real-time implementation (e.g., joint accelerations had to be measured). Later on, several improvements have been brought to modelbased adaptive control resulting in more reliable, simpler, and more efficient adaptive schemes (Slotine and Weiping, 1987;Ortega and Spong, 1989;Sadegh and Horowitz, 1990;Shang and Cong, 2010). One particular control strategy that caught our attention is the desired compensation adaptation law (DCAL) proposed in Sadegh and Horowitz (1990).…”

Section: Introductionmentioning

confidence: 99%

Extended Model-Based Feedforward Compensation in ℒ1 Adaptive Control for Mechanical Manipulators: Design and Experiments

et al. 2015

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This paper deals with a new control scheme for parallel kinematic manipulators (PKMs) based on the L 1 adaptive control theory. The original L 1 adaptive controller is extended by including an adaptive loop based on the dynamics of the PKM. The additional modelbased term is in charge of the compensation of the modeled non-linear dynamics in the aim of improving the tracking performance. Moreover, the proposed controller is enhanced to reduce the internal forces, which may appear in the case of redundantly actuated PKMs (RA-PKMs). The generated control inputs are first regulated through a projection mechanism that reduces the antagonistic internal forces, before being applied to the manipulator. To validate the proposed controller and to show its effectiveness, realtime experiments are conducted on a new four degrees-of-freedom (4-DOFs) RA-PKM developed in our laboratory.

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Nonlinear adaptive task space control for a 2-DOF redundantly actuated parallel manipulator

Cited by 43 publications

References 22 publications

Trajectory Tracking Control of Parallel Manipulator Based on Udwadia‐Kalaba Approach

Trajectory Tracking Control of Parallel Manipulator Based on Udwadia‐Kalaba Approach

Optimum design of a novel redundantly actuated parallel manipulator with multiple actuation modes for high kinematic and dynamic performance

Extended Model-Based Feedforward Compensation in ℒ1 Adaptive Control for Mechanical Manipulators: Design and Experiments

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