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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Proceedings ArticleDOI
Projection-based control of parallel manipulators
TL;DR: This paper presents tracking and set point controllers for parallel mechanism based on the notion of a projection operator that works whether the system is overactuated or not, and seems to be simpler than the inverse dynamics controller derived using Lagrange-D'Almbert formulation.
Proceedings ArticleDOI
Trajectory generation for a 2-dof over-actuated parallel manipulator with actuator speed and torque limits consideration
Y.K. Yiu,Zexiang Li +1 more
TL;DR: This paper investigates how to transform the speed and torque limits of the actuators to the velocity and acceleration limits in the end-effector space where the desired trajectory is normally specified.
Journal ArticleDOI
Computed Torque Control of a Caterpillar Robot Manipulator Using Neural Network
Mehran Rahmani,Ahmad Ghanbari +1 more
TL;DR: In this article, a nonlinear PD computed torque controller is obtained via utilizing a popular PD and using neural networks, which has some advantages such as low control effort, high trajectory tracking and learning ability.
Proceedings ArticleDOI
Trajectory tracking control of omnidirecitonal wheeled mobile manipulators: Robust neural network based sliding mode approach
TL;DR: This paper focuses on developing a robust neural network based sliding mode controller (NNSMC) to solve the trajectory tracking problem of a redundantly-actuated omnidirectional mobile manipulator.
Book ChapterDOI
Model-Based Control for Industrial Robots: Uniform Approaches for Serial and Parallel Structures
Houssem Abdellatif,Bodo Heimann +1 more
TL;DR: In this article, a comparison of the two types in the scope of their suitability for solving modern problems in industrial robotics is given, and appropriate approaches are proposed to remove drawbacks of classic industrial control solutions.
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.