Book ChapterDOI
Dual-loop motion control for geometric errors and joint clearances compensation of a planar 2-PRP+1-PPR manipulator
Santhakumar Mohan,Jayant Kumar Mohanta,Mathias Huesing,Burkhard Corves +3 more
- pp 171-180
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TLDR
The experiment results show that the manipulator tracking performance is significantly improved with the proposed dual-loop control scheme, and the controller parameter sensitivity and robustness analyses are performed.Abstract:
The existence of geometric errors (misalignment and kinematic errors) and joint clearances is an inherent problem in manipulators. In addition, friction between surfaces and gear backlash errors are unavoidable factors in manipulators using geared motors as their joint actuators. This paper presents a potential solution for the above issues through the application of a dual-loop control scheme. The proposed control scheme uses a redundant feedback strategy, i.e., individual joint displacements (at the joint space level) and, end-effector positions and orientation (at the task space level) are obtained as a feedback signal using appropriate sensors. Using this redundant feedback information, the actual error of the joint displacements are computed and rectified the desired joint space trajectory in joint-space trajectory tracking control to achieve the desired task space trajectory. To demonstrate the effectiveness and show overall performance of the controllers, real-time experiments are performed on an in-house fabricated 2-PRP+1-PPR planar parallel manipulator. The experiment results show that the manipulator tracking performance is significantly improved with the proposed dual-loop control scheme. In addition, the controller parameter sensitivity and robustness analyses are performed.read more
Citations
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Journal ArticleDOI
Two hybrid model-based control strategies for a flexible parallel planar manipulator
TL;DR: In this paper , the authors propose two hybrid model-based control design strategies for a 3RRR parallel manipulator with flexible links, one of which exploits the encoder's measurements and the inverse kinematic model of the manipulator considering rigid links.
Journal ArticleDOI
Deriving suitable models for model-based control design of a parallel manipulator with flexible components
TL;DR: In this paper , a two-step model reduction strategy is proposed to derive suitable models for control design for a flexible 3RRR parallel manipulator using a limited-sized model.
References
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TL;DR: The error model based on the POE formula can be a complete, minimal, and continuous kinematic model for serial-robot calibration.
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Motion Control Systems
Asif Sabanovic,Kouhei Ohnishi +1 more
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Proceedings ArticleDOI
Dual-space adaptive control of redundantly actuated cable-driven parallel robots
TL;DR: An adaptive dual-space motion control scheme for CDPR that aims at increasing the robot tracking performances, while keeping all the cable tensed despite uncertainties and changes in the robot dynamic parameters.
Journal ArticleDOI
Inverse dynamics and robust sliding mode control of a planar parallel (2-PRP and 1-PPR) robot augmented with a nonlinear disturbance observer
Yogesh Singh,M. Santhakumar +1 more
TL;DR: In this paper, a modular lightweight three degrees of freedom (DOF) vertical planar parallel robotic manipulator with a singularity free working region and that which is partially decoupled is proposed.
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