Nonlinear PID control of a six-DOF parallel manipulator

Su, Yu; Duan, B.Y.; Chen, Zheng

doi:10.1049/ip-cta:20030967

Cited by 100 publications

(55 citation statements)

References 18 publications

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“…This filter was independently proposed by Han and Wang [17] and Emaru and Tsuchiya [18,19] (see also [20] for some discussion). After that, some evaluation results of their filter [21][22][23] and its applications [24][25][26][27][28][29] were reported. The main advantage of their filter is that it realizes finite time convergence of the output to the input value when a constant input is provided.…”

Section: Journal Of Control Science and Engineeringmentioning

confidence: 99%

Parameter Selection Guidelines for a Parabolic Sliding Mode Filter Based on Frequency and Time Domain Characteristics

Jin

Kikuuwe

Yamamoto

2012

Journal of Control Science and Engineering

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This paper presents the results of quantitative performance evaluation of an authors' new parabolic sliding mode filter, which is for removing noise from signals in robotics and mechatronics applications, based on the frequency and time domain characteristics. Based on the evaluation results, the paper presents selection guidelines of two parameters of the filter. The evaluation results show that, in the frequency domain, the noise removing capability of the filter is almost the same as that of the second-order Butterworth low-pass filter (2-LPF), but its phase lag is smaller (maximum 150 degree) than that of 2-LPF (maximum 180 degree). Moreover, the filter produces smaller phase lag than a conventional parabolic sliding mode filter with appropriate selection of the parameters. In the time domain, the filter produces smaller overshoot than 2-LPF and the conventional one, while maintaining short transient time, by using an appropriately selected parameter. The presented parameter selection guidelines state that the values of the parameters should be chosen according to some estimated characteristics of the input and some desired characteristics of the output. The effectiveness of the filter and the presented guidelines is validated through numerical examples and their application to a closed-loop, force control of a robot manipulator.

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Section: Journal Of Control Science and Engineeringmentioning

confidence: 99%

Parameter Selection Guidelines for a Parabolic Sliding Mode Filter Based on Frequency and Time Domain Characteristics

Jin

Kikuuwe

Yamamoto

2012

Journal of Control Science and Engineering

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“…Current controllers for parallel manipulators can be divided into two kinds. The first kind is the kinematic controller, including the PD controller [7], the nonlinear PD (NPD) controller [8], and the iterative learning controller [9], etc. The dynamics of parallel manipulators are not compensated in these controllers, so the complex computation of dynamics can be avoided and the controller design can be simplified considerably.…”

Section: Introductionmentioning

confidence: 99%

Dynamic model based nonlinear tracking control of a planar parallel manipulator

Shang

Cong²,

Jiang³

2009

Nonlinear Dyn

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Based on the dynamic model, a novel nonlinear tracking controller is developed to overcome the nonlinear dynamics and friction of a planar parallel manipulator. The dynamic model is formulated in the active joint space, and the active joint friction is described with the Coulomb + viscous friction model. A nonlinear tracking controller is designed to eliminate the tracking error by using the power function. The nonlinear tracking controller is proven to guarantee asymptotic convergence to zero of both the tracking error and error rate with the Barbalat's lemma. The trajectory tracking experiment of the proposed controller is implemented on an actual five-bar planar parallel manipulator both at the lowspeed and high-speed motion. Moreover, the control performances of the proposed controller are compared with the results of the augmented PD (APD) controller.

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“…The controller parameters are aimed at high stability margins. The stability can not be proven rigorously for all the possible poses [22 and is therefore demonstrated experimentally. The resulting PID controller values are found to be K P = 8.24, K I = 0.10, K D = 1 and a tameness factor χ = 0.007.…”

Section: A Four Controllersmentioning

confidence: 99%

A method for evaluation and comparison of parallel robots for safe human interaction, applied to robotic TMS

Jong

Stienen

Wijk

et al. 2012

2012 4th IEEE RAS &Amp; EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

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Abstract-Transcranial magnetic stimulation (TMS) is a noninvasive method to modify behaviour of neurons in the brain. TMS is applied by running large currents through a coil close to the scalp. For consistent results it is required to maintain the coil position within millimetres of the targeted location, but natural head sway and practitioner fatigue may hinder this.Serial robots are currently used to assist the application of TMS. However, their low stiffness limits the performance and their high moving mass limits the operating speeds for safety reasons. Since 6-DOF parallel robots combine high stiffness with low moving mass, they have potential for fast, safe and accurate positioning required for TMS during activities.For choosing the safest parallel manipulator, we developed an evaluation method using robotic safety criteria, including motor speed, motor acceleration, force transmission, and workspace accuracy. The method is applied for evaluation and comparison of the Delta robot with rotation head, the Hexaglide robot, and the Hexa robot. The Hexa robot shows to have the best safety characteristics.This paper also presents the design and evaluation of four controller strategies for the Hexa robot. These strategies include the application of a straightforward PID control (PID), a PID control with Jacobian Feed-Forward (PID J), a PID control with a Spring Force Control (PID O + ) and a combination of these (PID J O + ).

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Nonlinear PID control of a six-DOF parallel manipulator

Cited by 100 publications

References 18 publications

Parameter Selection Guidelines for a Parabolic Sliding Mode Filter Based on Frequency and Time Domain Characteristics

Parameter Selection Guidelines for a Parabolic Sliding Mode Filter Based on Frequency and Time Domain Characteristics

Dynamic model based nonlinear tracking control of a planar parallel manipulator

A method for evaluation and comparison of parallel robots for safe human interaction, applied to robotic TMS

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