Trajectory Tracking Control Study of a New Parallel Mechanism with Redundant Actuation

Zhang, Haiqiang; Fang, Hairong; Zhang, Dan; Zou, Qi; Luo, Xueling

doi:10.1155/2020/7178103

Cited by 8 publications

(4 citation statements)

References 41 publications

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“…Thus, PID is widely used in the intelligent control in many fields, not only manipulators but also parallel mechanisms. 33 θ ij is the angle of the multi-joints robot. The desired joint position is represented by θ i j d t and the actual joint position is represented by θ ij ( t ).…”

Section: Coordination Control Strategymentioning

confidence: 99%

Error allocation model and coordination control for stringer–skin T-shape structure welding robot with multiple manipulators

Zeng

Liu

2022

International Journal of Advanced Robotic Systems

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A new kind of 18 degrees of freedom gantry robot with multiple manipulators could be used to complete the double-sided laser beam welding of stringer–skin T-shape structure for aircraft skin. The coordination control combined with error allocation model analysis is proposed to improve the stability and accuracy of the robot in this article. Firstly, the error model of the stringer–skin T-shape structure welding robot end effectors is analyzed. The score of the robot end effectors position error caused by each joint is obtained. Secondly, according to the path-points transformation matrix of the local coordinate system relative to the base coordinate system, the desired position of stringer–skin T-shape structure welding robot end effectors is calculated to be the input of the control model aiming at the dual-beam laser welding process. Then, the double closed-loop control strategy is proposed for stringer–skin T-shape structure welding robot coordinated motion on the basis of the end error analysis results and proportional-integralderivative (PID) method. Finally, ADAMS and MATLAB are used to establish a co-simulation platform to verify the effectiveness of the proposed coordination control strategy.

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Section: Coordination Control Strategymentioning

confidence: 99%

Error allocation model and coordination control for stringer–skin T-shape structure welding robot with multiple manipulators

Zeng

Liu

2022

International Journal of Advanced Robotic Systems

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“…As the trajectory tracking leads to support the performance of parallel manipulator, many researchers had focused on that. For example, Haiqiang Zhang et al [8] had proposed an effective trajectory tracking control method by combining position/force hybrid with the integration of inertia feedforward control and back propagation (BP) neural network PID control for parallel mechanism with redundant actuation. The task space and joint space of the dynamic models were formulated using d'Alembert and virtual work formulations.…”

Section: Related Workmentioning

confidence: 99%

Optimized LQR-PID Controller Using Squirrel Search Algorithm for Trajectory Tracking of a 6-DoF Parallel Manipulator

Choubey

Ohri

2021

Preprint

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In 6 Degree of Freedom (DOF) parallel manipulator, trajectory tracking is one of the main challenges. To obtain the desired trajectory, the DC motor needs to generate optimal torque. So to obtain optimal torque, an optimized Linear Quadratic Regulator-Proportional–Integral–Derivative (LQR-PID) controller is presented in this paper. For optimizing the Q, R and gain parameters of LQR-PID controller, Squirrel Search Algorithm (SSA) is presented. In this algorithm, minimal cost function of LQR-PID controller is considered as objective function. The SSA based LQR-PID controller leads the motor to generate optimal torque that helps to attain the desired trajectory of 6-DOF parallel manipulator. Results of the work depicts that the SSA based LQR-PID controller achieves the best mean velocity, sum square error (SSE), integral square error (ISE) and integral absolute error (IAE).

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“…However, delta robots often operate in a limited zone, including many singularities [4][5][6]. Troughout the past six decades, several researchers have investigated and proposed a paradigm for parallel robotics [7][8][9][10][11][12][13][14]. Te references [15][16][17][18] explain the optimal designs and control of parallel robots.…”

Section: Introductionmentioning

confidence: 99%

A Controller for Delta Parallel Robot Based on Hedge Algebras Method

Bui

Nguyen

2023

Journal of Robotics

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Based on the Hedge Algebras (HA) methodology, this paper presents a method for managing the trajectory of a delta robot. This technique is easily applied to existing devices in the process control domain. In the proposed control method, the semantically quantitative mapping may replace the verbal values of the fundamental rule in an analogous manner (SQM). Consequently, the basic rule may be represented as a three-dimensional numerical grid with linear interpolations. Compared to the Fuzzy Logic controller, it reduces the controller’s complexity. In addition, when the control strategy is applied in reality, the system’s response time is decreased. The simulation results indicate that the proposed technique is more exact than previous approaches. The experimental results reveal that the proposed technique is effective for robot trajectory tracking difficulties.

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Trajectory Tracking Control Study of a New Parallel Mechanism with Redundant Actuation

Cited by 8 publications

References 41 publications

Error allocation model and coordination control for stringer–skin T-shape structure welding robot with multiple manipulators

Error allocation model and coordination control for stringer–skin T-shape structure welding robot with multiple manipulators

Optimized LQR-PID Controller Using Squirrel Search Algorithm for Trajectory Tracking of a 6-DoF Parallel Manipulator

A Controller for Delta Parallel Robot Based on Hedge Algebras Method

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