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Proceedings ArticleDOI

Robust disturbance observer based sliding mode control of a planar parallel (3-PPR) manipulator

TL;DR: In this paper, the authors proposed a robust controller in conjunction with the dynamic modeling of an existing three degrees of freedom planar parallel manipulator which can perform effectually in the presence of parameter uncertainties and external disturbances.
Abstract: This study proposes a robust controller in conjunction with the dynamic modeling of an existing three degrees of freedom planar parallel manipulator which can perform effectually in the presence of parameter uncertainties and external disturbances. The planar manipulator discussed here has three legs each with a prismatic-prismatic-revolute (3-PPR) joint configuration and located on the same plane connecting the moving platform which is in the form of an equilateral triangle. Each leg consists of an active prismatic joint, a passive prismatic joint and a passive rotary joint. The dynamic model has been obtained using the Euler-Lagrangian formulation method which is based on the kinetic and potential energies of the system. The proposed controller is based on a sliding mode control scheme with a nonlinear disturbance observer incorporated which aids in eliminating disturbances present in the system which is a result of both disturbances (internal and external disturbances) and parameter uncertainties which might arise due to un-modeled dynamics. Computer based numerical simulations are performed to demonstrate the effectiveness of the proposed control and results confirming the same in the presence of disturbances.
Citations
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Journal ArticleDOI
TL;DR: In this paper, the inverse dynamics of a U-shaped planar parallel manipulator with three legs consisting of prismatic-prismatic-revolute (PPR) joint arrangement in which each leg has one active prismatic joint was investigated.
Abstract: This paper addresses the inverse dynamics of three degrees of freedom (DOF) U-shaped planar parallel manipulator having three legs consisting of prismatic-prismatic-revolute (PPR) joint arrangement in which each leg has one active prismatic joint. This paper also proposes a proportional-derivative (PD) like adaptive sliding mode control combined with a disturbance observer for the motion control of the proposed manipulator. Using this control scheme, the controlled robotic manipulator is transformed into decoupled dynamics, and thus the motion performance is very convenient to quantify. Based on Lyapunov like argument the global asymptotic stability of the proposed closed loop system is proved. Real time experiments performed on the in-house fabricated prototype of the proposed manipulator are provided to substantiate the effectiveness and the improved performance of the proposed controller. The proposed controller performances are also compared with traditional controllers such as proportional integral derivative (PID) controller, sliding mode controller (SMC) and computed torque controller (CTC) Inverse dynamics of a 3-DOF planar parallel robot (3-PPR) is presented.A robust tracking controller with disturbance compensation has been introduced.Effectiveness of the controller has been demonstrated with prototype experiments.A comparative study of the proposed and existing controllers has been performed.

40 citations

Dissertation
29 Sep 2015
TL;DR: In this article, the authors present a solution for the transfert de chaleur couple problem in a point de vue theorique and numerique couple, with conditions aux limites de type Dirichlet homogenes.
Abstract: Le travail presente dans ce memoire nous a permis d’etudier d’un point de vue theorique et numerique le transfert de chaleur couple par rayonnement et conduction a travers un milieu semi-transparent, gris et non diffusant dans une geometrie multidimensionnelle 2D. Ces deux modes de transfert de chaleur sont decrits par un couplage non lineaire de l’equation de la chaleur non lineaire (CT) et de l’equation du transfert radiatif (ETR). Nous avons presente des resultats d’existence, d’unicite locale de la solution pour le systeme couple avec des conditions aux limites de type Dirichlet homogenes en utilisant le theoreme du point fixe de Banach. Par ailleurs, les travaux realises nous ont permis de mettre au point un code de calcul qui permet de simuler la temperature. Nous avons utilise la quadrature SN pour la discretisation angulaire de l’ETR. La discretisation de l’ETR dans la variable spatiale est effectuee par la methode de Galerkin discontinue (DG) et en elements finis pour l’equation de la chaleur non lineaire. Nous avons demontre la convergence du schema numerique couple en utilisant la methode du point fixe discret. Le modele discret, sous la forme d’equations differentielles ordinaires non lineaires obtenu apres une approximation nous a permis de faire l’analyse et la synthese d’estimateurs d’etat et de lois de commande pour la stabilisation. Grace a la structure particuliere du modele et a l’aide du DMVT. Nous avons propose un observateur d’ordre reduit. D’autre part nous avons reussi a construire une matrice de gain qui assure la stabilite de l’observateur propose. Une extension au filtrage H∞ est egalement proposee. Une nouvelle inegalite matricielle (LMI) est donnee dans le cas d’une commande basee observateur. Nous avons etendu a l’approche d’ordre reduit dans le cas de la commande basee observateur et nous avons montre la stabilite sous l’action de la retroaction. De meme une extension au filtrage H∞ est egalement proposee. Tous les resultats sont valides par des simulations numeriques.

7 citations


Cites background from "Robust disturbance observer based s..."

  • ...(a) La stabilisation basée observateur par modes glissants est une forme de commande à structure variable qui a été appliquée avec succès à de nombreux systèmes, notamment pour la stabilisation des drones, [48] ou bien en robotique [86, 144, 54]....

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Patent
02 Sep 2009
TL;DR: In this paper, a positioning device consisting of an adjusting pin (11) having first and second ends (19, 21), an outer casing (9) of the axial compressor of the gas turbine engine, the outer housing (27) comprises a passage (27), where the first end of the pin (19) projects from the first side (23) between the first-and second-sides (23, 25) to accommodate the dowel pin(11) about the pin axis (11), and a second end (21) project from the second side (
Abstract: 1 The positioning device comprising: an adjusting pin (11) having first and second ends (19, 21), an outer casing (9) of the axial compressor of the gas turbine engine, the outer casing (9) has first and second sides (23, 25, ), the outer housing (9) comprises a passage (27) so that the first end (19) of the pin (11) projects from the first side (23) between the first and second sides (23, 25) to accommodate the dowel pin (11) and a second end (21) of the pin (11) projects from the second side (25), wherein the second end (21) of the pin (11) is adapted to engage the GCO polar element (7) of stationary blades of an axial compressor, to install the support member (7) of stationary blades, wherein the first end (19) of the pin (11) is adapted to the pin of rotation (11) about the pin axis (11) for changing the position of the support member (7) The stationary vanes; izazhimnuyu plate (47) for pressing the first end (19) an adjusting pin (11) to a first side (23) of the outer casing (9) for fixing the rotational position of the pin (11) relative to the outer shell (9) ,, a first end (19) of the pin (11) includes a first locking cone (49) which along the pin axis (11) away from the second end (21) of the pin (11) tapers from the first radial distance from the axis to a second reduced distance from the axis; azazhimnaya plate (47) comprises a second locking cone (51), the first back the locking cone (49) to lock with the first locking cone (49) 2 The positioning device according to claim 1, wherein the second end (21) an adjusting pin (11) comprises a cam (29) 3 The positioning device according to claim 1, wherein the first and second locking cones (49, 51) are samoblokiruyuschimisya4

4 citations

References
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Journal ArticleDOI
TL;DR: The methodology is compared with standard algorithms such as the computed torque method and is shown to combine in practice improved performance with simpler and more tractable controller designs.
Abstract: A new scheme is presented for the accurate tracking control of robot manipulators. Based on the more general suction control methodology, the scheme addresses the following problem: Given the extent of parametric uncertainty (such as imprecisions or inertias, geometry, loads) and the frequency range of unmodeled dynamics (such as unmodeled structural modes, neglected time delays), design a nonlinear feedback controller to achieve optimal tracking performance, in a suitable sense. The methodology is compared with standard algorithms such as the computed torque method and is shown to combine in practice improved performance with simpler and more tractable controller designs.

689 citations


"Robust disturbance observer based s..." refers background in this paper

  • ...Sliding mode control approach is a very interesting and new tracking control method for nonlinear robotic systems and its performance against disturbance and parameter uncertainties is effective which is analyzed and established here[16,17]....

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Journal ArticleDOI
TL;DR: The dynamic equations of the Stewart platform manipulator are studied to make the milling station into a semiautonomous robotic tool needing some operator interaction but having some intelligence of its own.
Abstract: The Stewart platform is a six-axis parallel robot manipulator with a force-to-weight ratio and positioning accuracy far exceeding that of a conventional serial-link arm. Its stiffness and accuracy approach that of a machine tool yet its workspace dexterity approaches that of a conventional manipulator. In this article, we study the dynamic equations of the Stewart platform manipulator. Our derivation is closed to that of Nguyen and Pooran because the dynamics are not explicitly given but are in a step-bystep algorithm. However, we give some insight into the structure and properties of these equations: We obtain compact expressions of some coefficients. These expressions should be interesting from a control point of view. A stiffness control scheme is designed for milling application. Some path-planning notions are discussed that take into account singularity positions and the required task. The objective is to make the milling station into a semiautonomous robotic tool needing some operator interaction but having some intelligence of its own. It should interface naturally with part delivery and other higher-level tasks. 0 1993 John Wiley & Sons, Inc.

313 citations


"Robust disturbance observer based s..." refers methods in this paper

  • ...00 ©2014 IEEE positioning uses commercialized parallel machines such as hexapods - like the Stewart-Gough platform [4] - or tripods, the commercialization of planar parallel manipulators is still in its infancy....

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Journal ArticleDOI
TL;DR: In this paper, a detailed study of the singular configurations of 3-DOF planar parallel mechanisms with three identical legs is presented, where only prismatic and revolute joints are considered.
Abstract: This paper presents the results of a detailed study of the singular configurations of 3-DOF planar parallel mechanisms with three identical legs. Only prismatic and revolute joints are considered. From the point of view of singularity analysis, there are ten different architectures. All of them are examined in a compact and systematic manner using planar screw theory. The nature of each possible singular configuration is discussed and the singularity loci for a constant orientation of the mobile platform are obtained. For some architectures, simplified designs with easy to determine singularities are identified.

313 citations


"Robust disturbance observer based s..." refers background in this paper

  • ...The reasons for this can be justified by the limitations associated with the parallel manipulators like limited or a restricted workspace and the presence of complicated singularities which are addressed in [1]-[3]....

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  • ...They are enhanced forms of their serial counterparts as they have numerous advantages like being able to work with effortlessness at high velocities [1, 2], being more rigid without being bulkier and so on....

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  • ...The singularity study of a class of 3-RRR planar manipulators was done in [6], while [1] describes the varieties of singular configuration that are encountered after detailed study of a 3-RPR configuration....

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Journal ArticleDOI
TL;DR: In this paper, an approach for tracking control of robot manipulators is presented, which incorporates the approximately known inverse dynamic model output as a model-base portion of the controller; an estimated uncertainty term to compensate for the unmodeled dynamics, external disturbances, and time-varying parameters; and a decentralized PID controller as a feedback portion to enhance closed-loop stability and account for the estimation error of uncertainties.

189 citations

Journal ArticleDOI
TL;DR: It is shown that closed-chain mechanisms still satisfy a skew symmetry property, and that proportional derivative (PD)-based control with so-called simple gravity compensation guarantees (local) asymptotic stability.
Abstract: We derive a reduced model, that is, a model in terms of independent generalized coordinates, for the equations of motion of closed-chain mechanisms. We highlight the fact that the model has two special characteristics which make it different from models of open-chain mechanisms. First, it is defined locally in the generalized coordinates. We therefore characterize the domain of validity of the model in which the mechanism satisfies the constraints and is not in a singular configuration. Second, it is an implicit model, that is, parts of the equations of motion are not expressed explicitly. Despite the implicit nature of the equations of motion, we show that closed-chain mechanisms still satisfy a skew symmetry property, and that proportional derivative (PD)-based control with so-called simple gravity compensation guarantees (local) asymptotic stability. We discuss the computational issues involved in the implementation of the proposed controller. The proposed modeling and PD control approach is illustrated experimentally using the Rice planar delta robot which was built to experiment with closed-chain mechanisms.

170 citations


"Robust disturbance observer based s..." refers methods in this paper

  • ...A simple PD controller has been established to analyze the tracking control of the parallel manipulator [13]-[15], but the performance of this control method is insufficient because of nonlinearities associated with the behavior of the system and its inadequacy in adjusting to the un-modeled dynamic behavior of the system....

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