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Trajectory Tracking Control Of Parallel Manipulator With Integral Manifold And Observer
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Book Synopsis Trajectory Tracking Control of Parallel Manipulator with Integral Manifold and Observer by : Zhengsheng Chen
Download or read book Trajectory Tracking Control of Parallel Manipulator with Integral Manifold and Observer written by Zhengsheng Chen and published by . This book was released on 2020 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: In view of the problem that notable flexible displacement will occur for parallel manipulators when operating at high speed, the composite controller based on the integral manifold and high-gain observer is proposed for trajectory tracking and the 3RRR parallel manipulator is taken as the object. Based on the stiffness matrix, the small variable is introduced to decompose the rigid-flexible coupling dynamic model into slow and fast subsystem. For the slow subsystem, the backstepping control is applied for rigid motion tracking. In order to account for the links,Äô flexible displacement the corrective torque is deduced, and the compensation for the flexible displacement is realized. For the fast subsystem, the sliding mode control is utilized to suppress the vibration. The high-gain observer is designed to avoid the measurement of the curvature rate of flexible links. Also, the stability of the overall system is proven with the Lyapunov stability theorem and the upper bound of the small variable is obtained. At last, the proposed composite controller together with the singular perturbation control and the rigid body model-based backstepping control are simulated, and vibration suppression and tracking performances are compared to validate the proposed control scheme.
Download or read book Manifolds II written by Paul Bracken and published by BoD – Books on Demand. This book was released on 2019-05-22 with total page 148 pages. Available in PDF, EPUB and Kindle. Book excerpt: Differential geometry is a very active field of research and has many applications to areas such as physics, in particular gravity. The chapters in this book cover a number of subjects that will be of interest to workers in these areas. It is hoped that these chapters will be able to provide a useful resource for researchers with regard to current fields of research in this important area.
Book Synopsis TIP Trajectory Tracking of Flexible-joint Manipulators by :
Download or read book TIP Trajectory Tracking of Flexible-joint Manipulators written by and published by . This book was released on 2002 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: In most robot applications, the control of the manipulators end-effector along a specified desired trajectory is the main concern. In these applications, the end-effector (tip) of the manipulator is required to follow a given trajectory. Several methods have been so far proposed for the motion control of robot manipulators. However, most of these control methods ignore either joint friction or joint elasticity which can be caused by the transmission systems (e.g. belts and gearboxes). This study aims at development of a comprehensive control strategy for the tip-trajectory tracking of flexible-joint robot manipulators. While the proposed control strategy takes into account the effect of the friction and the elasticity in the joints, it also provides a highly accurate motion for the manipulators end-effector. During this study several approaches have been developed, implemented and verified experimentally/numerically for the tip trajectory tracking of robot manipulators. To compensate for the elasticity of the joints two methods have been proposed; they are a composite controller whose design is based on the singular perturbation theory and integral manifold concept, and a swarm controller which is a novel biologically-inspired controller and its concept is inspired by the movement of real biological systems such as flocks of birds and schools of fishes. To compensate for the friction in the joints two new approaches have been also introduced. They are a composite compensation strategy which consists of the non-linear dynamic LuGre model and a Proportional-Derivative (PD) compensator, and a novel friction compensation method whose design is based on the Work-Energy principle. Each of these proposed controllers has some advantages and drawbacks, and hence, depending on the application of the robot manipulator, they can be employed. For instance, the Work-Energy method has a simpler form than the LuGre-PD compensator and can be easily implemented in industrial applicat.
Book Synopsis Model-based Trajectory Tracking Control of a Planar Parallel Robot with Redundancies by : Jens Kroneis
Download or read book Model-based Trajectory Tracking Control of a Planar Parallel Robot with Redundancies written by Jens Kroneis and published by Logos Verlag Berlin. This book was released on 2011 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: In industrial practice parallel kinematic structures start to replace serial ones, in case of time-sensitive, highly dynamical applications or processes requiring a high structural rigidity of the robots. But the high complexity of their dynamic models is still the biggest impediment for the realization of model based trajectory tracking control strategies.In this thesis a holistic concept for the model-based trajectory tracking control of a special class of parallel robots - containing functional or structural redundancies (complex parallel robots) - is introduced. Since for these robots - due to the high complexity of their dynamic models - sophisticated model-based strategies for trajectory tracking control cannot be directly applied, a new concept is necessary. It mainly bases upon the derivation of real-time implementable compact dynamic models for the studied class of robots. But compact dynamic models are only a first step on the way to a model-based trajectory tracking control with high path accuracy and a low traveling time. Additionally, appropriate designed trajectories are required. For planning them a new strategy has been developed and successfully applied.The holistic approach covering also aspects like parameter identification and velocity estimation has been successfully demonstrated at a planar parallel robot including experimental results.
Book Synopsis Parallel Manipulators by : Jee-Hwan Ryu
Download or read book Parallel Manipulators written by Jee-Hwan Ryu and published by BoD – Books on Demand. This book was released on 2008-04-01 with total page 510 pages. Available in PDF, EPUB and Kindle. Book excerpt: Parallel manipulators are characterized as having closed-loop kinematic chains. Compared to serial manipulators, which have open-ended structure, parallel manipulators have many advantages in terms of accuracy, rigidity and ability to manipulate heavy loads. Therefore, they have been getting many attentions in astronomy to flight simulators and especially in machine-tool industries.The aim of this book is to provide an overview of the state-of-art, to present new ideas, original results and practical experiences in parallel manipulators. This book mainly introduces advanced kinematic and dynamic analysis methods and cutting edge control technologies for parallel manipulators. Even though this book only contains several samples of research activities on parallel manipulators, I believe this book can give an idea to the reader about what has been done in the field recently, and what kind of open problems are in this area.
Book Synopsis Simultaneous Trajectory Tracking and Stiffness Control of Cable Driven Parallel Manipulator by :
Download or read book Simultaneous Trajectory Tracking and Stiffness Control of Cable Driven Parallel Manipulator written by and published by . This book was released on 2008 with total page 115 pages. Available in PDF, EPUB and Kindle. Book excerpt: Cable actuated parallel manipulators, also called cable robots, share many features in common with traditional parallel manipulators. However, such systems additionally feature considerably large workspace, large payload handling capacity and good disturbance rejection potentials over traditional parallel manipulator by virtue of the cable-band actuation. However, realizing their benefits poses numerous challenges to researchers. One critical issue is the unidirectional nature of forces exerted by cables, which only allows them to endure tensile force when performing tasks. Another critical issue in such systems is the actuation redundancy. In this thesis, we will examine these two aspects in the context of motion and active stiffness control scenarios. First, we study the implication of actuation redundancy in the context of controller design and workspace (task space) stiffness property of cable robot system. Then suitable trajectory tracking control schemes are developed to achieve two different secondary goals under positive control input constraint: (a) minimal energy consumption among actuations; (b) active stiffness control to improve disturbance-rejection. Finally, these control schemes are evaluated within a virtual prototyping (VP) implementation framework.
Book Synopsis Synchronized Trajectory Tracking Control for Parallel Robotic Manipulators by : Lu Ren
Download or read book Synchronized Trajectory Tracking Control for Parallel Robotic Manipulators written by Lu Ren and published by . This book was released on 2006 with total page 302 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this thesis, in order to solve the trajectory tracking control problem of parallel robotic manipulators, we propose a new control approach, termed synchronized control. In this control scheme, considering the closed-loop kinematic chain mechanism of parallel robotic manipulators, an additional feedback signal, termed the synchronization error, is employed. Different from the traditional tracking errors, i.e., position errors and velocity errors, the synchronization error represents the coordination degree of the active joints in a parallel robotic manipulator. Therefore, compared with traditional control approaches, e.g., PD control and PID control, the employment of the synchronization error in a synchronized controller improves the tracking performance of a parallel robotic manipulator. Experimental results also demonstrate this claim. With respect to different operation conditions and tracking performance requirements, based on the synchronized control, we propose two new control approaches, termed adaptive synchronized (A-S) control and convex synchronized (C-S) control. The former is proposed to address unknown parameters in the dynamic model of a parallel robotic manipulator during practical operations. Through estimating unknown parameters during tracking control process by an estimator, the influence of the unknown parameters is eliminated. The latter is proposed to address the multiple simultaneous specification (MSS) problem during trajectory tracking. By using the convex combination method, the C-S controller is designed through combining multiple synchronized controllers. This control approach substantially lessens the burden of tuning control gains. In principle, the proposed synchronized control, A-S control and C-S control are all suitable for parallel robotic manipulators with various structures. Experiments conducted on a 3-DOF P-R-R planar parallel robotic manipulator demonstrate the validity and effectiveness of these three control approaches.
Book Synopsis Parallel Manipulators by : Cecilia Norton
Download or read book Parallel Manipulators written by Cecilia Norton and published by Nova Science Publishers. This book was released on 2016 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robots are a key element in current industrial processes, as they can be applied to a number of tasks, increasing both quality and productivity. Traditionally, serial robots have been installed in factories, as their wide operating space allowed them to fulfill a number of tasks. However, due to their high moving mass and single kinematic chain structure, these robots present some disadvantages when high speed, accuracy or heavy load handling tasks have to be executed. Parallel robots provide an interesting alternative to these application fields, as their multiple kinematic chain structure offers increased stiffness, allowing reduced positioning errors, lighter mechanisms and increased load/weight ratios. In this book, Chapter One addresses a new control strategy for parallel manipulators based on L1 adaptive control. This latter is known for its decoupled control and estimation loops, enabling fast adaptation and guaranteed robustness. Chapter Two focuses on the control of parallel robots. Chapter Three reviews structure synthesis of fully-isotropic two-rotational and two-translational parallel robotic manipulators. Chapter Four reviews the new prototype of the two-legged, parallel kinematic walking robot CENTAUROB, developed at Hamburg University of Technology. Chapter Five analyzes and robustly controls the 6-DOF 3-legged Wide-Open parallel manipulator, using a Lyapunov analysis approach.
Book Synopsis Trajectory Tracking Control for Robot Manipulators with No Velocity Measurement Using Semi-Globally and Globally Asymptotically Stable Velocity Observers by : Farah Bouakrif
Download or read book Trajectory Tracking Control for Robot Manipulators with No Velocity Measurement Using Semi-Globally and Globally Asymptotically Stable Velocity Observers written by Farah Bouakrif and published by . This book was released on 2010 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This chapter has presented two motion control schemes to solve the trajectory tracking problem of rigid-link robot manipulators, when the manipulator's joint velocities cannot be measured by the control system. The necessity of velocity measurements in the controllers can be removed by replacing the actual velocity signal by an estimate obtained from two.
Book Synopsis Modeling and Nonlinear Robust Control of Delta-Like Parallel Kinematic Manipulators by : Jonatan Martin Escorcia Hernandez
Download or read book Modeling and Nonlinear Robust Control of Delta-Like Parallel Kinematic Manipulators written by Jonatan Martin Escorcia Hernandez and published by Elsevier. This book was released on 2022-12-02 with total page 170 pages. Available in PDF, EPUB and Kindle. Book excerpt: Modelling and Nonlinear Robust Control of Delta-Like Parallel Kinematic Manipulators deals with the modeling and control of parallel robots. The book's content will benefit students, researchers and engineers in robotics by providing a simplified methodology to obtain the dynamic model of parallel robots with a delta-type architecture. Moreover, this methodology is compatible with the real-time implementation of model-based and robust control schemes. And, it can easily extend the proposed robust control solutions to other robotic architectures. Introduces a novel parallel robot designed for machining operations called SPIDER4 Presents a mathematical formulation of the kinematic and dynamic models of SPIDER4 Offers validation of the computed mathematical models and designed controllers through real-time experiments under different operating conditions
Book Synopsis Index to IEEE Publications by : Institute of Electrical and Electronics Engineers
Download or read book Index to IEEE Publications written by Institute of Electrical and Electronics Engineers and published by . This book was released on 1997 with total page 1468 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Symbolic Kinematics and Dynamics Analysis and Control of a General Stewart Parallel Manipulator by : Yao Wang
Download or read book Symbolic Kinematics and Dynamics Analysis and Control of a General Stewart Parallel Manipulator written by Yao Wang and published by . This book was released on 2008 with total page 127 pages. Available in PDF, EPUB and Kindle. Book excerpt: Application of parallel manipulator has received a lot of attention recently in the industry and the robotic community due to its high accuracy, high rigidity, high operation speed, high load capacity and high stiffness as compared with the conventional serial manipulator. One of the most popular parallel manipulators that are commonly used for aircraft simulator is the general purpose 6 degree-of-freedom (DOF) Stewart parallel manipulator. Despite these advantages, the kinematic and dynamic analyses are extremely complicated. Such models are important in terms of qualitative analysis of the required actuator forces to realize certain end-effector task (inverse dynamics), and computing the corresponding end-effector task based on certain input to the system (forward dynamics). However, till date, not much general symbolic solution is reported to aid the above process. Most of the prior work required some form of heuristic, or introduction of extra spring/damper elements to approximate the solutions. This thesis addresses the possibility in using the state-of-the-art symbolic manipulation software tool to derive the general kinematic and dynamic equation of motion of the system so that more accurate solution can be computed. However, there are still consideration are needed to accurately simulate such systems. We address these issues using the example of Stewart parallel manipulator and highlight the solution to the corresponding challenges. Control using stabilizing inverse dynamics was implemented to enhance trajectory tracking of the system.
Download or read book Computer & Control Abstracts written by and published by . This book was released on 1996 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis A Mathematical Introduction to Robotic Manipulation by : Richard M. Murray
Download or read book A Mathematical Introduction to Robotic Manipulation written by Richard M. Murray and published by CRC Press. This book was released on 2017-12-14 with total page 503 pages. Available in PDF, EPUB and Kindle. Book excerpt: A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of mathematical tools that emphasizes the geometry of robot motion and allows a large class of robotic manipulation problems to be analyzed within a unified framework. The foundation of the book is a derivation of robot kinematics using the product of the exponentials formula. The authors explore the kinematics of open-chain manipulators and multifingered robot hands, present an analysis of the dynamics and control of robot systems, discuss the specification and control of internal forces and internal motions, and address the implications of the nonholonomic nature of rolling contact are addressed, as well. The wealth of information, numerous examples, and exercises make A Mathematical Introduction to Robotic Manipulation valuable as both a reference for robotics researchers and a text for students in advanced robotics courses.
Book Synopsis Modelling and Control of Mechatronic and Robotic Systems by : Alessandro Gasparetto
Download or read book Modelling and Control of Mechatronic and Robotic Systems written by Alessandro Gasparetto and published by MDPI. This book was released on 2021-09-02 with total page 404 pages. Available in PDF, EPUB and Kindle. Book excerpt: Currently, the modelling and control of mechatronic and robotic systems is an open and challenging field of investigation in both industry and academia. The book encompasses the kinematic and dynamic modelling, analysis, design, and control of mechatronic and robotic systems, with the scope of improving their performance, as well as simulating and testing novel devices and control architectures. A broad range of disciplines and topics are included, such as robotic manipulation, mobile systems, cable-driven robots, wearable and rehabilitation devices, variable stiffness safety-oriented mechanisms, optimization of robot performance, and energy-saving systems.
Book Synopsis Passivity-based Tracking Control of a Robot Manipulator Using an Extended State Observer by : Mohammed Ali
Download or read book Passivity-based Tracking Control of a Robot Manipulator Using an Extended State Observer written by Mohammed Ali and published by . This book was released on 2020 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The development and use of robot manipulators has increased in the past threedecades. Robot manipulators are widely in manufacturing, factories, industrial plants, and in the medical field. This dissertation presents a combination of a passivity- based controller and an extended state observer (ESO) for the tracking control of a three degree-of-freedom (DOF) PUMA 500 robot manipulator under parameter variations, payload variations, and external disturbances. The dynamic model of the PUMA robot and its structural properties are analyzed. The extra state in the ESO estimates the parameter variations and external disturbances in the control system. Then the passivity-based controllers cancel them in the control law. The stability of the proposed control schemes and the convergence of the observation errors are analyzed. Simulations prove that the proposed control schemes are robust and track well under parameter variations, payload variations, and external disturbances, thus validating the proposed control scheme.
Book Synopsis Analysis, design and control of a hydraulically driven parallel robot manipulator by : Huapeng Wu
Download or read book Analysis, design and control of a hydraulically driven parallel robot manipulator written by Huapeng Wu and published by . This book was released on 2001 with total page 253 pages. Available in PDF, EPUB and Kindle. Book excerpt:
