Oscillation damping of nonlinear control systems based on the phase trajectory length concept: An experimental case study on a cable-driven parallel robot

Zarei, Mojtaba; Aflakian, Ali; Kalhor, Ahmad; Masouleh, Mehdi Tale

doi:10.1016/j.mechmachtheory.2018.04.007

Cited by 29 publications

(9 citation statements)

References 28 publications

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“…According to the presented theorem in Zarei et al., 24 , 25 the control strategy u(t)=scriptC(x(t)) for the system presented in equation (1) can be selected such that the PTL becomes the closest value to its lower bound, namely radius function. Therefore, whatever the phase trajectory length decreases, the phase trajectory converges to the radial trajectory and consequently, it suppresses the oscillations in the phase trajectory .…”

Section: Preliminary Definitionsmentioning

confidence: 99%

“…24 The radius function r(x(t)) is the absolute lower bound of the PTL in equation (5) , which mathematically leads to …”

Section: Preliminary Definitionsmentioning

confidence: 99%

“…Based on the aforementioned, shortening the oscillation number of systems has been considered as a plausible solution to cope with the latter problem in Zarei et al. 24 In fact, similar to adopted procedures for minimization of the conventional indexes, such as IAE, integral square error (ISE), integral time-weighted absolute error (ITAE), and ITSE, minimization of the proposed index can be employed to design controllers with less oscillation.…”

Section: Preliminary Definitionsmentioning

confidence: 99%

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An experimental oscillation damping impedance control for the Novint Falcon haptic device based on the phase trajectory length function concept

Zarei

Kalhor

Masouleh

2018

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper aims at designing an oscillationless open-loop impedance controller for a well-known low-cost haptic device, namely the Novint Falcon haptic device. In this regard, the oscillation number index standing for the ratio of the traversed path in the corresponding phase portrait systems for a certain state to its radial value is employed to evaluate the oscillatory behavior of the system. Based on the identified parameters of the dynamic equation, a precise model of the intended robot is developed in the SimMechanics simulator. According to the obtained results in the simulation, one can infer that there is a certain impedance value in which the value of the oscillation number index has its minimum value. The obtained experimental results reveal that the oscillation number index based controller possesses lower oscillation in comparison to the Falcon’s official software development kit. In fact, by tuning the system’s impedance will result in a better performance for the haptic purposes.

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Section: Preliminary Definitionsmentioning

confidence: 99%

“…24 The radius function r(x(t)) is the absolute lower bound of the PTL in equation (5) , which mathematically leads to …”

Section: Preliminary Definitionsmentioning

confidence: 99%

Section: Preliminary Definitionsmentioning

confidence: 99%

See 1 more Smart Citation

An experimental oscillation damping impedance control for the Novint Falcon haptic device based on the phase trajectory length function concept

Zarei

Kalhor

Masouleh

2018

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…The use of CDPRs equipped with a limited num-ber of cables is justified in several applications, in which the task to be performed requires the control of a limited number of EE DoFs or a limitation of mobility is acceptable to enhance workspace accessibility or decrease system cost. In recent years, increasing effort has been devoted to investigate the kinematics [1,3] and dynamics [5,6,10] of these manipulators.…”

Section: Introductionmentioning

confidence: 99%

Robust Trajectory Planning of Under-Actuated Cable-Driven Parallel Robot with 3 Cables

Idá

Briot

Carricato

2020

Advances in Robot Kinematics 2020

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Cable-driven parallel robots (CDPRs) are under-actuated if they use a number of cables smaller than the degrees of freedom (DoF) of the end-effector (EE). For these robots, the constraint deficiency on the EE may lead to undesirable EE oscillations along the path that it is supposed to track. This paper proposes a trajectory-planning method for underactuated CDPRs which is robust against dynamic-model uncertainties or parameter variation, aiming at minimizing EE oscillations along a prescribed path. Oscillation reduction and robustness are achieved by means of Zero-Vibration Multi-Mode Input Shaping and Dynamic Scaling of a reference trajectory. Simulation results show the effectiveness of the method on a 3-cable 6-DoF robot.

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“…[14][15][16][17][18][19][20][21][22][23] Oscillation damping of nonlinear system based on the phase trajectory length concept and anti-oscillation control were proposed for the under-constrained CDPR. 24 Other research groups studied on planning trajectories for under-constrained CDPRs. A method to generate the trajectory on the basis of the inverse dynamic analysis was proposed in 25 and an antisway control method was proposed to suppress the oscillations of the end-effector in ref.…”

Section: Introductionmentioning

confidence: 99%

Oscillation Reduction and Frequency Analysis of Under-Constrained Cable-Driven Parallel Robot with Three Cables

et al. 2019

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SummaryCable-driven parallel robots (CDPRs) possess a lot of advantages over conventional parallel manipulators and link-based robot manipulators in terms of acceleration due to their low inertia. This paper deals with under-constrained CDPRs, which manipulate the end-effector to carrying the payload by using a number of cables less than six, often used preferably owing to their simple structures. Since a smaller number of cables than six are used, the end-effector of CDPR has uncontrollable degrees of freedom and that causes swaying motion and oscillations. In this paper, a scheme to curb on the unwanted oscillation of the end-effector of the CDPR with three cables is proposed based on multimode input shaping. The precise dynamic model of the under-constrained CDPR is obtained to find natural frequencies, which depends on the position of the end-effector. The advantage of the proposed method is that it is practicable to generate the trajectories for vibration suppression based on multi-mode input-shaping scheme in spite of the complexity in the dynamics and the difficulty in computing the natural frequencies of the CDPR, which are required in any input-shaping scheme. To prove the effectiveness of the proposed method, computer simulations and experiments were carried out by using 3-D motion for CDPR with three cables.

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Oscillation damping of nonlinear control systems based on the phase trajectory length concept: An experimental case study on a cable-driven parallel robot

Cited by 29 publications

References 28 publications

An experimental oscillation damping impedance control for the Novint Falcon haptic device based on the phase trajectory length function concept

An experimental oscillation damping impedance control for the Novint Falcon haptic device based on the phase trajectory length function concept

Robust Trajectory Planning of Under-Actuated Cable-Driven Parallel Robot with 3 Cables

Oscillation Reduction and Frequency Analysis of Under-Constrained Cable-Driven Parallel Robot with Three Cables

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