Trajectory-tracking of 6-RSS Stewart-Gough manipulator by feedback-linearization control using a novel inverse dynamic model based on the force distribution algorithm

Mahmoud, Zafer; Arvan, Mohammad Reza; Nekoukar, Vahab; Rezaei, Mohammad

doi:10.1080/13873954.2020.1754861

Cited by 3 publications

(2 citation statements)

References 27 publications

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“…e former refers to the change law of the motion parameters of every joint of the hydraulic actuator controller during the movement process, and the latter refers to the movement of the termination effector of the hydraulic actuator controller. In the case of certain known conditions, the running time is different, and the corresponding motion parameters are also different, but it is necessary to ensure that the obtained change curve of the motion parameter must be continuously smooth [4]. Proper trajectory planning may assure the steady functioning of the hydraulically performed manipulator, decreasing impact and wear on components and extending service life [5].…”

Section: Introductionmentioning

confidence: 99%

Tracking and Analysing Error in Feedback Linearized Motion Trajectory of Hydraulic Actuator Based on the Internet of Things

Zhou

2022

Mobile Information Systems

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In the current era of technology, the Internet of Things (IoT) is gaining more importance as compared to the rest of the technologies because of its tremendous improvement and application in various areas including tracking and error controlling of physical devices. Controlling physical equipment from afar has become necessary in today’s practice. This type of operation needs a robust infrastructure that connects various types of equipment, such as sensors, actuators, plants, and so on, with controllers located in remote locations, either centralized or decentralized, via a communication channel. The variety of platforms makes it difficult to integrate all of these components; nevertheless, the usage of the IoT effectively offers communication across several devices and platforms. However, the drive joints of the traditional hydraulic actuator arm mostly take the form of a combination of a motor and a reducer, resulting in a very small load-to-weight ratio and the power-to-volume ratio of the traditional hydraulic actuator arm. In addition, the load-bearing ratio is one of the important indicators to measure the performance of industrial robots. In response to this problem, this paper studies the combined advantages of hydraulic transmission, a six-degree-of-freedom hydraulic actuator based on a vane-type hydraulic swing cylinder as a joint. According to the performance requirements of the butterfly valve, the hydraulic actuator components, such as hydraulic cylinders, AC servo motors, and hydraulic pumps, have been selected and designed. Furthermore, the calculation and construction of hydraulic pipelines and integrated valve blocks have been accomplished, as has the selection summary of various actuator components. Considering joint flexibility, this research work carries out trajectory planning in joint space, during which it resolves the optimal value of each joint angle under the condition of joint flexibility and obtains a smoother joint motion parameter curve by relying on the layered structure of the IoT framework. The simulation results show that this method can ensure that the acceleration at the start and end time is 0, and it can avoid the vibration of the hydraulic actuator arm at the start and stop.

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Section: Introductionmentioning

confidence: 99%

Tracking and Analysing Error in Feedback Linearized Motion Trajectory of Hydraulic Actuator Based on the Internet of Things

Zhou

2022

Mobile Information Systems

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“…Also, by using experimental results and numerical results based on integral error performance indices, the superiority of the proposed controller was illustrated comparing the PID controller. Mahmoud et al (2020) proposed a novel decoupled inverse dynamic model for the SP to evaluate its performance in tracking a complex trajectory using feedback-linearization control in the joint space. Dai et al (2021) designed modal space neural network compensation control for having higher target signal tracking performance in translation and rotation directions of the SP.…”

Section: Introductionmentioning

confidence: 99%

Real-time trajectory tracking control of Stewart platform using fractional order fuzzy PID controller optimized by particle swarm algorithm

Bingül

Karahan

2021

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Purpose The purpose of this paper is to address a fractional order fuzzy PID (FOFPID) control approach for solving the problem of enhancing high precision tracking performance and robustness against to different reference trajectories of a 6-DOF Stewart Platform (SP) in joint space. Design/methodology/approach For the optimal design of the proposed control approach, tuning of the controller parameters including membership functions and input-output scaling factors along with the fractional order rate of error and fractional order integral of control signal is tuned with off-line by using particle swarm optimization (PSO) algorithm. For achieving this off-line optimization in the simulation environment, very accurate dynamic model of SP which has more complicated dynamical characteristics is required. Therefore, the coupling dynamic model of multi-rigid-body system is developed by Lagrange-Euler approach. For completeness, the mathematical model of the actuators is established and integrated with the dynamic model of SP mechanical system to state electromechanical coupling dynamic model. To study the validness of the proposed FOFPID controller, using this accurate dynamic model of the SP, other published control approaches such as the PID control, FOPID control and fuzzy PID control are also optimized with PSO in simulation environment. To compare trajectory tracking performance and effectiveness of the tuned controllers, the real time validation trajectory tracking experiments are conducted using the experimental setup of the SP by applying the optimum parameters of the controllers. The credibility of the results obtained with the controllers tuned in simulation environment is examined using statistical analysis. Findings The experimental results clearly demonstrate that the proposed optimal FOFPID controller can improve the control performance and reduce reference trajectory tracking errors of the SP. Also, the proposed PSO optimized FOFPID control strategy outperforms other control schemes in terms of the different difficulty levels of the given trajectories. Originality/value To the best of the authors’ knowledge, such a motion controller incorporating the fractional order approach to the fuzzy is first time applied in trajectory tracking control of SP.

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A comparative study of two inverse dynamic models of 6 degree-of-freedom rotary Stewart-Gough parallel robot

Mahmoud

Arvan

Nekoukar

et al. 2021

Int. J. Dynam. Control

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Trajectory-tracking of 6-RSS Stewart-Gough manipulator by feedback-linearization control using a novel inverse dynamic model based on the force distribution algorithm

Cited by 3 publications

References 27 publications

Tracking and Analysing Error in Feedback Linearized Motion Trajectory of Hydraulic Actuator Based on the Internet of Things

Tracking and Analysing Error in Feedback Linearized Motion Trajectory of Hydraulic Actuator Based on the Internet of Things

Real-time trajectory tracking control of Stewart platform using fractional order fuzzy PID controller optimized by particle swarm algorithm

A comparative study of two inverse dynamic models of 6 degree-of-freedom rotary Stewart-Gough parallel robot

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