Journal ArticleDOI
Internal Preload Control of Redundantly Actuated Parallel Manipulators—Its Application to Backlash Avoiding Control
TLDR
With this formulation a computational efficient open-loop preload control is developed and applied to the elimination of backlash and its simplicity makes it applicable in real-time applications.Abstract:
Redundant actuation of parallel manipulators can lead to internal forces without generating end-effector forces (preload). Preload can be controlled in order to prevent backlash during the manipulator motion. Such control is based on the inverse dynamics. The general solution of the inverse dynamics of redundantly actuated parallel manipulators is given. For the special case of simple overactuation an explicit solution is derived in terms of a single preload parameter. With this formulation a computational efficient open-loop preload control is developed and applied to the elimination of backlash. Its simplicity makes it applicable in real-time applications. Results are given for a planar 4RRR manipulator and a spatial heptapod.read more
Citations
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Proceedings ArticleDOI
Robust control of actuated robot joint with clearance in the gearbox
TL;DR: In this paper, the authors demonstrate the feasibility of improving the precision and stability of robot articulation with clearance in the gearbox, using specific control strategy based on the angle of rotation of the input and the output of the gear.
Proceedings ArticleDOI
A multi-objective fusion internal preload optimization method of redundantly actuated parallel robots for backlash prevention
Tingting Su,Xu Liang,Jiyu Liang,Weiqun Wang,Guangping He,Quanliang Zhao,Lei Zhao,Can Huang,Yuze Jiao +8 more
TL;DR: In this article, a multi-objective internal preload optimization method for a 4RRR redundantly actuated parallel robot is proposed, which takes the driving power, the switching loss of the drivers and the control force as the optimization goals.
Journal ArticleDOI
The Virtual Wheel Concept for the Singularity-Free Kinematics and Dynamics Modeling and Control of Pseudo-Omnidirectional Vehicles
TL;DR: A novel modeling concept is introduced which is singularity-free and does not rely on a switching strategy, which serves as basis for optimal path planning and model-based control.
Journal ArticleDOI
Slack and Excessive Loading Avoidance in n -Tendon Continuum Robots
TL;DR: The results verify the performance of the proposed control algorithms in avoiding slack and excessive loading in tendons and controlling the orientation and position of continuum structures.
Journal ArticleDOI
Constraint-matrix-based method for reaction and driving forces uniqueness analysis in overconstrained or overactuated multibody systems
TL;DR: In this paper , the uniqueness analysis of the reactions and driving forces in rigid multibody systems with nonholonomic constraints is discussed. But the uniqueness criteria are written in a new way and the equivalence of the SVD, QR, and nullspace methods is shown.
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.
Book
Nonlinear Dynamical Control Systems
TL;DR: The controlled Invariant Submanifolds and Nonlinear Zero Dynamics and the Disturbance Decoupling problem are studied.
Journal ArticleDOI
A Global Performance Index for the Kinematic Optimization of Robotic Manipulators
Clément Gosselin,Jorge Angeles +1 more
TL;DR: In this article, a performance index for the kinematic optimization of robotic manipulators is presented based on the condition number of the Jacobian matrix of the manipulator, which is known to be a measure of the amplification of the errors due to the joint and Cartesian spaces.
Journal ArticleDOI
Dynamics and control of a class of underactuated mechanical systems
TL;DR: A theoretical framework for the dynamics and control of underactuated mechanical systems, defined as systems with fewer inputs than degrees of freedom, is presented and controlability and stabilizability results are derived.
Journal ArticleDOI
An efficient multiple shooting based reduced SQP strategy for large-scale dynamic process optimization. Part 1: theoretical aspects
TL;DR: A tailored simultaneous solution strategy based on multiple shooting and reduced SQP is presented, which allows an efficient and robust solution of multistage optimal control and design optimization problems for large, sparse DAE process models of index one.