Synchronous tracking control of 6-DOF hydraulic parallel manipulator using cascade control method

Pi, Yangjun; Wang, Xuanyin; Gu, Xiuquan

doi:10.1007/s11771-011-0872-6

Cited by 15 publications

(14 citation statements)

References 17 publications

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“…The trajectory tracking control of AirGait is based on the control scheme of the joint space control strategy [32]. The core of this approach is that the control of each driving joint of the mechanism is independent, i.e., each controller is independent and they do not communicate.…”

Section: A Control Strategymentioning

confidence: 99%

A Trajectory Tracking Control of a Robot Actuated With Pneumatic Artificial Muscles Based on Hysteresis Compensation

et al. 2020

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This paper presents a new trajectory tracking control strategy for a novel lower-limb rehabilitant robot, AirGait, which is a parallel mechanism with three degrees of freedom and is actuated with four pneumatic artificial muscles (PAMs). Compared with the existing control methods, the feature of this approach is that it combines the feedforward/feedback (FF) controller based on the length-pressure hysteresis compensation of PAMs with a joint space control method on the trajectory tracking control of a parallel mechanism. For the controller design, the inverse and forward kinematic formulas of AirGait are developed firstly based on the structure analysis. Then, a lower-limb kinematic model of humans is developed and the human-like trajectory of time is obtained by using a Fourier series method. Finally, the control scheme is introduced and the trajectory tracking control of AirGait with two reference input signals is presented. The comparative experimental results indicate that the performance of this control approach is strong and this robot holds great promise for assisting lower-limb locomotion. INDEX TERMS Trajectory tracking control, hysteresis compensation, feedforward/feedback (FF) control, lower-limb rehabilitation robot, pneumatic artificial muscle (PAM), joint space control. SHENGLONG XIE was born in Anqing, China, in 1988. He received the B.S. degree in mechanical design, manufacturing, and automation and the M.S. degree in mechatronic engineering from the

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Section: A Control Strategymentioning

confidence: 99%

A Trajectory Tracking Control of a Robot Actuated With Pneumatic Artificial Muscles Based on Hysteresis Compensation

et al. 2020

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“…31 Pi et al proposed a sliding mode controller based on successive approximation method and fuzzy rules, to solve the trajectory tracking control problem of 6-DOF parallel robot under conditions of load disturbances. 32 These approaches, however, provide no guarantee of convergence to the sliding mode surface and involve a tradeoff between chattering and robustness. To tackle these difficulties, fuzzy SMC (FSMC) has also been used for this purpose, which is shown to be quite effective.…”

Section: Related Workmentioning

confidence: 99%

Fuzzy Sliding Mode Control of a Multi-DOF Parallel Robot in Rehabilitation Environment

Liu

Meng

et al. 2014

Int. J. Human. Robot.

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Multi-degrees of freedom (DOF) parallel robot, due to its compact structure and high operation accuracy, is a promising candidate for medical rehabilitation devices. However, its controllability relating to the nonlinear characteristics challenges its interaction with human subjects during the rehabilitation process. In this paper, we investigated the control of a parallel robot system using fuzzy sliding mode control (FSMC) for constructing a simple controller in practical rehabilitation, where a fuzzy logic system was used as the additional compensator to the sliding mode controller (SMC) for performance enhancement and chattering elimination. The system stability is guaranteed by the Lyapunov stability theorem. Experiments were conducted on a lower limb rehabilitation robot, which was built based on kinematics and dynamics analysis of the 6-DOF Stewart platform. The experimental results showed that the position tracking precision of the proposed FSMC is sufficient in practical applications, while the velocity chattering had been effectively reduced in comparison with the conventional FSMC with parameters tuned by fuzzy systems.

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“…From (16), the synchronous smooth sliding mode control law can be designed as: (24) where  is an adjustable positive constant, s s is the predefined sliding function as shown in (20), and s s  is used to overcome the system coupling effect and the other uncertainties.…”

Section: Design Of the Synchronous Smooth Sliding Mode Control Algorithmmentioning

confidence: 99%

Synchronous Smooth Sliding Mode Control for Parallel Mechanism Based on Coupling Analysis

Gao

Wen

Liu

et al. 2013

International Journal of Advanced Robotic Systems

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For any multi‐DOF parallel mechanism, its system model is difficult to accurately establish and high‐ performance control is hard to achieve because of its high nonlinearity and strong coupling characteristics. In view of this, for a 6‐PTRT parallel mechanism, the coupling characteristics are first analysed and then a novel smooth sliding mode control algorithm based on synchronization error is designed and the systemʹs stability is proven ‐ in theory ‐ according to the Lyapunov stability theorem. By introducing the defined synchronization error into the smooth sliding mode control, the proposed method can resist the coupling effect among the branches of the parallel mechanism and realize the coordinated, synchronous and more accurate movement of each branch of the parallel mechanism with no accurate system model, whereby the tracking error of each branch may converge on zero simultaneously. The simulation results show that the synchronous smooth sliding mode control method proposed here has a shorter response time and a higher control precision when compared with the smooth sliding mode control method. By considering the errors of the adjacent branches, the synchronous coordination among the branches of the parallel mechanism with the coupling effect is effectively improved

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Synchronous tracking control of 6-DOF hydraulic parallel manipulator using cascade control method

Cited by 15 publications

References 17 publications

A Trajectory Tracking Control of a Robot Actuated With Pneumatic Artificial Muscles Based on Hysteresis Compensation

A Trajectory Tracking Control of a Robot Actuated With Pneumatic Artificial Muscles Based on Hysteresis Compensation

Fuzzy Sliding Mode Control of a Multi-DOF Parallel Robot in Rehabilitation Environment

Synchronous Smooth Sliding Mode Control for Parallel Mechanism Based on Coupling Analysis

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