Trajectory tracking control of parallel robots in the presence of joint drive flexibility

İder, S. Kemal; Korkmaz, Ozan

doi:10.1016/j.jsv.2008.05.025

Cited by 31 publications

(22 citation statements)

References 17 publications

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“…As an example, a planar parallel manipulator used in [30] is taken into consideration to show the effectiveness of the SDRE method for the control of parallel robots having elastic joints ( Figure 1). It is a 2-RRR parallel manipulator with 3 degrees of freedom.…”

Section: Numerical Examplementioning

confidence: 99%

Tracking control of elastic joint parallel robots via state-dependent Riccati equation

Kilicaslan

2015

Turk J Elec Eng & Comp Sci

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Section: Numerical Examplementioning

confidence: 99%

Tracking control of elastic joint parallel robots via state-dependent Riccati equation

Kilicaslan

2015

Turk J Elec Eng & Comp Sci

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“…Therefore, the vibration mechanism and control strategy of the flexible manipulator have always been a quite focused issue. [9][10][11] Before a reasonable and effective active vibration control algorithm is designed, the vibration mechanism of the flexible manipulator system should be obtained first. Most of the existing investigations focus on the effect of the parameters of the flexible manipulator itself on its dynamic characteristics.…”

Section: Introductionmentioning

confidence: 99%

Electromechanical coupling vibration characteristics of an AC servomotor-driven translational flexible manipulator

Yang

Wang

et al. 2016

International Journal of Advanced Robotic Systems

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The nonstationary transition status of the motor start-up phase creates great threat against the stable operation of the flexible manipulator system. This article investigates the electromechanical coupling dynamics and vibration response characteristics for a flexible manipulator of an alternating current servomotor-driven linear positioning platform with considering the start-up dynamic characteristics of the motor. Based on the constructed global electromechanical coupling effect and the Lagrange-Maxwell equations, the dynamic model of the whole system is established. The electromechanical coupling vibration mechanism of the flexible manipulator is obtained by analyzing the multiphysical process and multiparameter coupling phenomenon of the whole system. The result demonstrates that the nonstationary transition status of the motor initialization phase is mainly manifested during the disturbance of the three-phase stator current. As the speed of the linear positioning platform increases, the current disturbance, arousing the change of the servo driving force of the linear positioning platform, has dominant frequency shift and frequency amplitude decrease. Then, the vibration response of the flexible manipulator is markedly affected and the variation of the high-order modes vibration response is more obvious. The analysis result is significant for improving the dynamic performance of the motor-driven flexible robot manipulator system.

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“…12 Flexible joint in the area of roboticswas first studied by Spong. 17 The proposed control law decouples and linearizes the system and achieves asymptotic stability by feedback of positions and velocities of the actuated joints and rotors. The work is based on coupling the dynamics of the motors and the pulleys and solving their differential vibration equation.…”

Section: Introductionmentioning

confidence: 99%

Experimental results for the flexible joint cable-suspended manipulator of ICaSbot

et al. 2013

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2013). Experimental results for the exible joint cable-suspended manipulator of ICaSbot. Robotica, 31, pp 887-904 SUMMARYIn this paper, design, dynamic, and control of the motors of a spatial cable robot are presented considering flexibility of the joints. End-effector control in order to control all six spatial degrees of freedom (DOFs) of the system and motor control in order to control the joints flexibility are proposed here. Corresponding programing of its operation is done by formulating the kinematics and dynamics and also control of the robot. Considering the existence of gearboxes, flexibility of the joints is modeled in the feed-forward term of its controller to achieve better accuracy. A two sequential closed-loop strategy consisting of proportional derivative (PD) for linear actuators in joint space and computed torque method for nonlinear end-effector in Cartesian space is presented for further accuracy. Flexibility is estimated using modeling and simulation by MATLAB and SimDesigner. A prototype has been built and experimental tests have been done to verify the efficiency of the proposed modeling and controller as well as the effect of flexibility of the joints. The ICaSbot (IUST Cable-Suspended robot) is an underconstrained six-DOF parallel robot actuated by the aid of six suspended cables. An experimental test is conducted for the manufactured flexible joint cable robot of ICaSbot and the outputs of sensors are compared with simulation. The efficiency of the proposed schemes is demonstrated.

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Trajectory tracking control of parallel robots in the presence of joint drive flexibility

Cited by 31 publications

References 17 publications

Tracking control of elastic joint parallel robots via state-dependent Riccati equation

Tracking control of elastic joint parallel robots via state-dependent Riccati equation

Electromechanical coupling vibration characteristics of an AC servomotor-driven translational flexible manipulator

Experimental results for the flexible joint cable-suspended manipulator of ICaSbot

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