Real-time target alignment system for high-power high-repetition rate laser operations using a five degree-of-freedom hybrid mechanism

Karim, Shah; Piano, Samanta; Branson, David T.; Santoso, Teguh Imam; Leach, Richard; Tolley, M.

doi:10.1080/00207179.2020.1827297

Cited by 3 publications

(1 citation statement)

References 22 publications

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“…As a combination of parallel mechanisms and series mechanisms, the hybrid mechanism has the advantages of large working space and high flexibility of series mechanisms and high stiffness and strong bearing capacity of parallel mechanisms (Liu and Wu, 2014). Therefore, the hybrid mechanism is becoming increasingly important in the field of industrial research (Karim et al , 2022; Wu et al , 2021; Xu et al , 2021). However, the problems of uncertainty and synchronization of the hybrid mechanism pose challenges to the realization of high-performance control (Cao et al , 2017a, Gao et al , 2019).…”

Section: Introductionmentioning

confidence: 99%

Composite error-based finite time super twisting sliding mode synchronous control for hybrid mechanism

Gao

Sun

Cao

2023

RIA

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Purpose This paper aims to solve the problems of the synchronization between branches and the uncertainties such as joint friction, load variation and external interference of a hybrid mechanism. The controller is used to improve the synchronization and robustness of the hybrid mechanism system and achieve both finite time convergence and chattering-free sliding mode. Design/methodology/approach First, the dynamic model of hybrid mechanism containing lumped uncertainties is formulated by the Lagrange method, and a composite error based on coupling synchronization error and the end-effector tracking error is set up in the task space. Then, by combining the finite time super twisting sliding mode control algorithm, a composite error-based finite time super twisting sliding mode synchronous control law is designed to make the end-effector tracking error and coupling synchronization error achieve better tracking performance and convergence performance. Finally, the Lyapunov stability of the control law and the finite-time convergence of the composite error are proved theoretically. Findings To verify the effectiveness of the proposed control method, simulations and experiments for the prototype system of the hybrid mechanism are conducted. The results show that the proposed control method can achieve better tracking performance and convergence performance. Originality/value This is a new innovation for a hybrid mechanism containing lumped uncertainties to improve the robustness, convergence performance, tracking performance and synchronization of the system.

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Section: Introductionmentioning

confidence: 99%

Composite error-based finite time super twisting sliding mode synchronous control for hybrid mechanism

Gao

Sun

Cao

2023

RIA

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Power Control System in Electrical Automation Equipment based on Immune Feedback Algorithm

Gong

2022

2022 International Conference on Knowledge Engineering and Communication Systems (ICKES)

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Parallel–Serial Robotic Manipulators: A Review of Architectures, Applications, and Methods of Design and Analysis

Antonov

2024

Machines

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Parallel–serial (hybrid) manipulators represent robotic systems composed of kinematic chains with parallel and serial structures. These manipulators combine the benefits of both parallel and serial mechanisms, such as increased stiffness, high positioning accuracy, and a large workspace. This study discusses the existing architectures and applications of parallel–serial robots and the methods of their design and analysis. The paper reviews around 500 articles and presents over 150 architectures of manipulators used in machining, medicine, and pick-and-place tasks, humanoids and legged systems, haptic devices, simulators, and other applications, covering both lower mobility and kinematically redundant robots. After that, the paper considers how researchers have developed and analyzed these manipulators. In particular, it examines methods of type synthesis, mobility, kinematic, and dynamic analysis, workspace and singularity determination, performance evaluation, optimal design, control, and calibration. The review concludes with a discussion of current trends in the field of parallel–serial manipulators and potential directions for future studies.

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Real-time target alignment system for high-power high-repetition rate laser operations using a five degree-of-freedom hybrid mechanism

Cited by 3 publications

References 22 publications

Composite error-based finite time super twisting sliding mode synchronous control for hybrid mechanism

Composite error-based finite time super twisting sliding mode synchronous control for hybrid mechanism

Power Control System in Electrical Automation Equipment based on Immune Feedback Algorithm

Parallel–Serial Robotic Manipulators: A Review of Architectures, Applications, and Methods of Design and Analysis

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