Journal ArticleDOI
Dynamics and control of redundantly actuated parallel manipulators
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TLDR
In this article, a simple scheme for computing the inverse dynamics of a redundant actuation of a parallel manipulator is proposed, and four basic control algorithms, a joint-space proportional derivative (PD), a PD control in generalized coordinates, an augmented PD control, and a computed-torque control, are formulated.Abstract:
It has been shown that redundant actuation provides an effective means for eliminating singularities of a parallel manipulator, thereby improving its performance such as Cartesian stiffness and homogeneous output forces. Based on this concept, several high-performance parallel manipulator prototypes have been designed. A major difficulty that prevents application of the vast control literature developed for the serial counterparts to redundantly actuated parallel manipulators is the lack of an efficient dynamical model for real-time control. In this paper, using the Lagrange-D'Alembert formulation, we propose a simple scheme for computing the inverse dynamics of a redundantly actuated parallel manipulator. Based on this approach, four basic control algorithms, a joint-space proportional derivative (PD) control, a PD control in generalized coordinates, an augmented PD control, and a computed-torque control, are formulated. A two-degrees-of-freedom redundantly acutated parallel manipulator designed for a high-speed assembly task is used to verify the simplicity of the proposed approach and to evaulate the performance of the four control algorithms.read more
Citations
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Journal ArticleDOI
Dynamics and Control of a Novel 3 -DOF Parallel Manipulator with Actuation Redundancy
TL;DR: A synchronized sliding mode control scheme based on contour error is proposed to implement accurate motion tracking control and an adaptive method is introduced to approximate the lumped uncertainty of the system and provide a chattering-free control.
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Dynamic Stabilization of NAO Humanoid Robot Based on Whole-Body Control with Simulated Annealing
TL;DR: The prime challenge in a humanoid robot is its stability on two feet due to the presence of an underactuated system and the complete dynamics of the humanoid robot has been described in this paper.
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Social spider optimization algorithm for tuning parameters in PD-like Interval Type-2 Fuzzy Logic Controller applied to a parallel robot:
Amjad J. Humaidi,Huda T Najem,Ayad Q. Al-Dujaili,Daniel A Pereira,Ibraheem Kasim Ibraheem,Ahmad Taher Azar +5 more
TL;DR: In this paper, the authors presented a control design based on an Interval Type-2 Fuzzy Logic (IT2FL) for the trajectory tracking of a 3-RRR (3-Revolute,Revolute and Revolute) planar parallel robot.
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A new TSMC prototype robust nonlinear task space control of a 6 DOF parallel robotic manipulator
TL;DR: In this paper, a terminal sliding mode control (TSMC) prototype robust nonlinear task space control approach is developed for 6 degree of freedom (DOF) parallel robotic manipulators in light of TSMC principle integrated with Lyapunov redesign method.
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Design optimization of a spatial hybrid mechanism for micromanipulation
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TL;DR: In this article, a new 3SPS + RPR spatial hybrid mechanism which has three degrees of freedom (DOF) and can generate motions in a microscopic scale is proposed.
References
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Book
A Mathematical Introduction to Robotic Manipulation
TL;DR: In this paper, the authors present a detailed overview of the history of multifingered hands and dextrous manipulation, and present a mathematical model for steerable and non-driveable hands.
Journal ArticleDOI
Dynamics computation of closed-link robot mechanisms with nonredundant and redundant actuators
Yoshihiko Nakamura,M. Ghodoussi +1 more
TL;DR: A general and systematic computational scheme of the inverse dynamics of closed-link mechanisms derived by using d'Alembert's principle and obtained without computing the Lagrange Multipliers is discussed.
Proceedings ArticleDOI
A parallel x-y manipulator with actuation redundancy for high-speed and active-stiffness applications
S. Kock,Walter Schumacher +1 more
TL;DR: A novel control scheme that guarantees a lower bound of the end-effector stiffness (LBSC) is presented and is compared with a traditional control scheme for high-speed applications using the minimal 2-norm of actuator torques.
Journal ArticleDOI
An efficient method for inverse dynamics of manipulators based on the virtual work principle
Chang-De Zhang,Shin-Min Song +1 more
TL;DR: The present method uses a forward recursive scheme to compute velocities and accelerations, the Newton-Euler equation to calculate inertia forces/torque, and the virtual work principle to formulate the dynamic equations of motion.