Simplified dynamic model for real-time control of the delta parallel robot

Du, Jinzhao; Lou, Yunjiang

doi:10.1109/icinfa.2016.7832082

Cited by 7 publications

(3 citation statements)

References 9 publications

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“…As such, the presented method provides a closed-form expression to calculate the natural frequencies. Minimal complexity and a closed-form expression could make the presented method an interesting candidate for design analysis, optimization, or use in model-based controllers as those presented by Callegari et al [15] and Du and Lou [39].…”

Section: Discussionmentioning

confidence: 99%

Jacobian-based natural frequency analysis of parallel manipulators

Hoevenaars

Krut

Herder

2020

Mechanism and Machine Theory

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Section: Discussionmentioning

confidence: 99%

Jacobian-based natural frequency analysis of parallel manipulators

Hoevenaars

Krut

Herder

2020

Mechanism and Machine Theory

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“…Avci et al [20] investigated the dynamic characteristics of a 3 P(4) 4 parallel robot using the Lagrangian approach, and a quantitative feedback controller was further designed through the linearized dynamic model. To alleviate the computing burden and achieve the real-time dynamic control of a Delta robot, a simplified dynamic model was investigated depend on evaluation of each components [21]. Briot et al [22] studied the degeneracy conditions of the dynamic model of parallel robots, in order to pass through the singularities through the optimal trajectories.…”

Section: Introductionmentioning

confidence: 99%

Synchronized motion control and precision positioning compensation of a 3-DOFs macro–micro parallel manipulator fully actuated by piezoelectric actuators

Zhang

et al. 2017

Smart Mater. Struct.

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The macro–micro combined approach, as an effective way to realize trans-scale nano-precision positioning with multi-dimensions and high velocity, plays a significant role in integrated circuit manufacturing field. A 3-degree-of-freedoms (3-DOFs) macro–micro manipulator is designed and analyzed to compromise the conflictions among the large stroke, high precision and multi-DOFs. The macro manipulator is a 3-Prismatic-Revolute-Revolute (3-PRR) structure parallel manipulator which is driven by three linear ultrasonic motors. The dynamic model and the cross-coupling error based synchronized motion controller of the 3-PRR parallel manipulator are theoretical analyzed and experimental tested. To further improve the positioning accuracy, a 3-DOFs monolithic compliant manipulator actuated by three piezoelectric stack actuators is designed. Then a multilayer BP neural network based inverse kinematic model identifier is developed to perform the positioning control. Finally, by forming the macro–micro structure, the dual stage manipulator successfully achieved the positioning task from the point (2 mm, 2 mm, 0 rad) back to the original point (0 mm, 0 mm, 0 rad) with the translation errors in X and Y directions less than ±50 nm and the rotation error around Z axis less than ±1 μrad, respectively.

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“…Literatures typically formulate equations of motion for simple multi-body systems using the energy-based Lagrangian formulation, and employing generalized coordinate variables is sufficient to describe the dynamics of the closed systems completely 15,16 . For example, researchers established a singularity-free dynamic model using an augmented Lagrangian or Hamiltonian formulation to derive the inverse dynamic equations for a Delta robot within an object-oriented modeling framework 17 .…”

mentioning

confidence: 99%

Controller Design for a Delta Robot Using Lagrangian Multipliers

Lee¹,

Lin²

2021

Preprint

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The novelty of this research is that the study utilizes Lagrangian multipliers for an articulated close-chain robot mechanism as time-varying states to augment an energy-based Lagrangian dynamic model, and the strategy facilitates the system computations while satisfying the forward/inverse dynamics and mechanism constraints simultaneously for the close-chained robot. Then, this article develops a controller based upon the augmented dynamics model for the Delta robot mechanism and drives its moving platform to track prescribed trajectories in space. As a result, the simulation results validate the effectiveness of the augmented system model in undertaking complex dynamics of close-chained robot mechanisms.

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Simplified dynamic model for real-time control of the delta parallel robot

Cited by 7 publications

References 9 publications

Jacobian-based natural frequency analysis of parallel manipulators

Jacobian-based natural frequency analysis of parallel manipulators

Synchronized motion control and precision positioning compensation of a 3-DOFs macro–micro parallel manipulator fully actuated by piezoelectric actuators

Controller Design for a Delta Robot Using Lagrangian Multipliers

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