Rapid and Automatic Zero-Offset Calibration of a 2-DOF Parallel Robot Based on a New Measuring Mechanism

Mei, Jianping; Zang, Jiawei; Ding, Yabin; Xie, Songyun; Zhang, Xu

doi:10.5545/sv-jme.2017.4529

Cited by 3 publications

(2 citation statements)

References 19 publications

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“…Regarding the problem of uncertainty of kinematic and dynamic robot parameters, control schemes that make use of soft computing methods including neural networks [9] to [11] and fuzzy logic [12] have been developed. In order to improve trajectory tracking, various optimization techniques are used within motion controllers, [13] to [15]. Joint space control methods, which are adequate in situations in which the manipulator tasks can be accurately preplanned and little or no online trajectory adjustments are necessary [16], can be classified into decentralized (when a single manipulator joint is controlled independently of the others) and centralized (when dynamic interaction effects among the joints are considered) techniques [17].…”

Section: Fig 2 Cms Rotational Axes and Framesmentioning

confidence: 99%

Control System Design for a Centrifuge Motion Simulator Based on a Dynamic Model

2018

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Section: Fig 2 Cms Rotational Axes and Framesmentioning

confidence: 99%

Control System Design for a Centrifuge Motion Simulator Based on a Dynamic Model

2018

SV-JME

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“…Parallel mechanisms (PMs) have been wide industrial applications due to their merits such as high load-toweight ratio [1], compact structure [2], good accuracy [3] and dynamic performance [4]. Performance evaluation helps to measure the practical value of PMs before their application.…”

Section: Introductionmentioning

confidence: 99%

Indices to Evaluate the Performance of Force Transmission and Constraint for Parallel Mechanisms

Zhang¹,

Cao²,

Ma³

2022

sv-jme

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The force transmission and constraint ability significantly influence the performance of parallel mechanisms (PMs), such as force dexterity, overall rigidity and accuracy. The transmission wrench screw (TWS) transmits the force between the actuator and end-effector, and the constraint wrench screw (CWS) resists structural deformations. They significantly influence the manipulability to transmit force and the consistency to resist deformations. In this study, two new indices are proposed to evaluate their manipulability and consistency. The indices are notable for their unit homogeneity, frame independence, and measurement facility without interference. By taking three PMs with different mobility properties as examples, the effectiveness of the two indices for evaluating the manipulability to transmit force and the consistency to resist deformations is verified. Based on the indices, the configuration of a 3-CRU (C a cylindrical joint, R a revolute joint, and U a universal joint) PM with optimal force transmission and constraint ability is constructed.

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Control of an Anthropomorphic Manipulator using LuGre Friction Model - Design and Experimental Validation

Ali

Mehmood

Muhammad

et al. 2021

SV-JME

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Automation technology has been extensively recognized as an emerging field in various industrial applications. Recent breakthrough in flexible automation is primarily due to deployment of robotic arms or manipulators. Autonomy in these manipulators is essentially linked with the advancements in non-linear control systems. The objective of this research is to propose a robust control algorithm for a five degree of freedom (DOF) robotic arm to achieve superior performance and reliability in the presence of friction. A friction compensation-based non-linear control has been proposed and realized for the robotic manipulator. The dynamic model of the robot has been derived by considering the dynamic friction model. The proposed three-state model is validated for all the joints of the manipulator. The integral sliding mode control (ISMC) methodology has been designed; the trajectories of system every time begin from the sliding surface and it eliminates the reaching phase with assistance of integral term in the sliding surface manifold. The designed control law has been first simulated in Matlab/Simulink environment to characterize the control performance in terms of tracking of various trajectories. The results confirm the effectiveness of the proposed control law with model-based friction compensation. The transient parameters like settling and peak time have improvement as well have better results with friction than without considering the friction. The proposed control law is then realized on an in-house developed autonomous articulated robotic rducational platform (AUTAREP) and NI myRIO hardware interfaced with LabVIEW. Experimental results also witnessed the trajectory tracking by the robotic platform.

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Rapid and Automatic Zero-Offset Calibration of a 2-DOF Parallel Robot Based on a New Measuring Mechanism

Cited by 3 publications

References 19 publications

Control System Design for a Centrifuge Motion Simulator Based on a Dynamic Model

Control System Design for a Centrifuge Motion Simulator Based on a Dynamic Model

Indices to Evaluate the Performance of Force Transmission and Constraint for Parallel Mechanisms

Control of an Anthropomorphic Manipulator using LuGre Friction Model - Design and Experimental Validation

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