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Synchronized Trajectory Tracking Control For Parallel Robotic Manipulators
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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 Robots by : Hamid D. Taghirad
Download or read book Parallel Robots written by Hamid D. Taghirad and published by CRC Press. This book was released on 2013-02-20 with total page 537 pages. Available in PDF, EPUB and Kindle. Book excerpt: Parallel structures are more effective than serial ones for industrial automation applications that require high precision and stiffness, or a high load capacity relative to robot weight. Although many industrial applications have adopted parallel structures for their design, few textbooks introduce the analysis of such robots in terms of dynamics and control. Filling this gap, Parallel Robots: Mechanics and Control presents a systematic approach to analyze the kinematics, dynamics, and control of parallel robots. It brings together analysis and design tools for engineers and researchers who want to design and implement parallel structures in industry. Covers Kinematics, Dynamics, and Control in One Volume The book begins with the representation of motion of robots and the kinematic analysis of parallel manipulators. Moving beyond static positioning, it then examines a systematic approach to performing Jacobian analysis. A special feature of the book is its detailed coverage of the dynamics and control of parallel manipulators. The text examines dynamic analysis using the Newton-Euler method, the principle of virtual work, and the Lagrange formulations. Finally, the book elaborates on the control of parallel robots, considering both motion and force control. It introduces various model-free and model-based controllers and develops robust and adaptive control schemes. It also addresses redundancy resolution schemes in detail. Analysis and Design Tools to Help You Create Parallel Robots In each chapter, the author revisits the same case studies to show how the techniques may be applied. The case studies include a planar cable-driven parallel robot, part of a promising new generation of parallel structures that will allow for larger workspaces. The MATLAB® code used for analysis and simulation is available online. Combining the analysis of kinematics and dynamics with methods of designing controllers, this text offers a holistic introduction for anyone interested in designing and implementing parallel robots.
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 Synchronization and Control of Multiagent Systems by : Dong Sun
Download or read book Synchronization and Control of Multiagent Systems written by Dong Sun and published by CRC Press. This book was released on 2018-10-09 with total page 200 pages. Available in PDF, EPUB and Kindle. Book excerpt: Multiple intelligent agent systems are commonly used in research requiring complex behavior. Synchronization control provides an advantage in solving the problem of multi-agent coordination. This book focuses on the use of synchronization control to coordinate the group behavior of multiple agents. The author includes numerous real-world applicatio
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 Dynamics and Control of Robotic Manipulators with Contact and Friction by : Shiping Liu
Download or read book Dynamics and Control of Robotic Manipulators with Contact and Friction written by Shiping Liu and published by John Wiley & Sons. This book was released on 2019-02-11 with total page 266 pages. Available in PDF, EPUB and Kindle. Book excerpt: A comprehensive guide to the friction, contact and impact on robot control and force feedback mechanism Dynamics and Control of Robotic Manipulators with Contact and Friction offers an authoritative guide to the basic principles of robot dynamics and control with a focus on contact and friction. The authors discuss problems in interaction between human and real or virtual robot where dynamics with friction and contact are relevant. The book fills a void in the literature with a need for a text that considers the contact and friction generated in robot joints during their movements. Designed as a practical resource, the text provides the information needed for task planning in view of contact, impact and friction for the designer of a robot control system for high accuracy and long durability. The authors include a review of the most up-to-date advancements in robot dynamics and control. It contains a comprehensive resource to the effective design and fabrication of robot systems and components for engineering and scientific purposes. This important guide: Offers a comprehensive reference with systematic treatment and a unified framework Includes simulation and experiments used in dynamics and control of robot considering contact, impact and friction Discusses the most current tribology methodology used to treat the multiple–scale effects Contains valuable descriptions of experiments and software used Presents illustrative accounts on the methods employed to handle friction in the closed loop, including the principles, implementation, application scope, merits and demerits Offers a cohesive treatment that covers tribology and multi-scales, multi-physics and nonlinear stochastic dynamics control Written for graduate students of robotics, mechatronics, mechanical engineering, tracking control and practicing professionals and industrial researchers, Dynamics and Control of Robotic Manipulators with Contact and Friction offers a review to effective design and fabrication of stable and durable robot system and components.
Book Synopsis Robust Control Algorithms for Flexible Manipulators by : Kshetrimayum Lochan
Download or read book Robust Control Algorithms for Flexible Manipulators written by Kshetrimayum Lochan and published by CRC Press. This book was released on 2024-10-13 with total page 236 pages. Available in PDF, EPUB and Kindle. Book excerpt: Various modelling and control of two-link flexible manipulators are presented in this book. The lumped parameter modelling method and the assumed modes method modelling are comprehensively reviewed. The book also reviews the trajectory tracking problem and tip trajectory tracking problem along with the suppression of tip deflection of the links. An exponential time varying signal and a chaotic signal are considered as the desired trajectories. The identical/ non-identical slave manipulator is synchronised with the controlled master manipulator so that the slave manipulator indirectly follows the desired manipulator.
Book Synopsis Robust Control Algorithms for Two-link Flexible Manipulators by : Kshetrimayum Lochan
Download or read book Robust Control Algorithms for Two-link Flexible Manipulators written by Kshetrimayum Lochan and published by CRC Press. This book was released on 2024-10-13 with total page 262 pages. Available in PDF, EPUB and Kindle. Book excerpt: Various modelling and control of two-link flexible manipulators are presented in this book. The lumped parameter modelling method and the assumed modes method modelling are comprehensively reviewed. The book also reviews the trajectory tracking problem and tip trajectory tracking problem along with the suppression of tip deflection of the links. An exponential time varying signal and a chaotic signal are considered as the desired trajectories. The identical/ non-identical slave manipulator is synchronised with the controlled master manipulator so that the slave manipulator indirectly follows the desired manipulator.
Book Synopsis Proceedings of the 14th International Conference on Flexible Automation and Intelligent Manufacturing by : Lihui Wang
Download or read book Proceedings of the 14th International Conference on Flexible Automation and Intelligent Manufacturing written by Lihui Wang and published by NRC Research Press. This book was released on 2004 with total page 704 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Serial and Parallel Robot Manipulators by : Serdar Küçük
Download or read book Serial and Parallel Robot Manipulators written by Serdar Küçük and published by BoD – Books on Demand. This book was released on 2012-03-30 with total page 472 pages. Available in PDF, EPUB and Kindle. Book excerpt: The robotics is an important part of modern engineering and is related to a group of branches such as electric
Book Synopsis Lyapunov-based Hybrid Control for Robust Trajectory Tracking of Robotic Manipulators by : Shafiqul Islam
Download or read book Lyapunov-based Hybrid Control for Robust Trajectory Tracking of Robotic Manipulators written by Shafiqul Islam and published by . This book was released on 2010 with total page 534 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Intelligent Computing Methodologies by : De-Shuang Huang
Download or read book Intelligent Computing Methodologies written by De-Shuang Huang and published by Springer. This book was released on 2017-07-20 with total page 781 pages. Available in PDF, EPUB and Kindle. Book excerpt: This three-volume set LNCS 10361, LNCS 10362, and LNAI 10363 constitutes the refereed proceedings of the 13th International Conference on Intelligent Computing, ICIC 2017, held in Liverpool, UK, in August 2017. The 212 full papers and 20 short papers of the three proceedings volumes were carefully reviewed and selected from 612 submissions. This third volume of the set comprises 67 papers. The papers are organized in topical sections such as Intelligent Computing in Robotics; Intelligent Computing in Computer Vision; Intelligent Control and Automation; Intelligent Agent and Web Applications; Fuzzy Theory and Algorithms; Supervised Learning; Unsupervised Learning; Kernel Methods and Supporting Vector Machines; Knowledge Discovery and Data Mining; Natural Language Processing and Computational Linguistics; Advances of Soft Computing: Algorithms and Its Applications - Rozaida Ghazali; Advances in Swarm Intelligence Algorithm; Computational Intelligence and Security for Image Applications in SocialNetwork; Biomedical Image Analysis; Information Security; Machine Learning; Intelligent Data Analysis and Prediction.
Book Synopsis Advances and Applications in Nonlinear Control Systems by : Sundarapandian Vaidyanathan
Download or read book Advances and Applications in Nonlinear Control Systems written by Sundarapandian Vaidyanathan and published by Springer. This book was released on 2016-03-17 with total page 679 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book reports on the latest advances and applications of nonlinear control systems. It consists of 30 contributed chapters by subject experts who are specialized in the various topics addressed in this book. The special chapters have been brought out in the broad areas of nonlinear control systems such as robotics, nonlinear circuits, power systems, memristors, underwater vehicles, chemical processes, observer design, output regulation, backstepping control, sliding mode control, time-delayed control, variables structure control, robust adaptive control, fuzzy logic control, chaos, hyperchaos, jerk systems, hyperjerk systems, chaos control, chaos synchronization, etc. Special importance was given to chapters offering practical solutions, modeling and novel control methods for the recent research problems in nonlinear control systems. This book will serve as a reference book for graduate students and researchers with a basic knowledge of electrical and control systems engineering. The resulting design procedures on the nonlinear control systems are emphasized using MATLAB software.
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 Parallel Robots written by J.P. Merlet and published by Springer. This book was released on 2000-07-31 with total page 392 pages. Available in PDF, EPUB and Kindle. Book excerpt: Parallel robots are closed-loop mechanisms presenting very good performances in terms of accuracy, rigidity and ability to manipulate large loads. Parallel robots have been used in a large number of applications ranging from astronomy to flight simulators and are becoming increasingly popular in the field of machine-tool industry. This book presents a complete synthesis of the latest results on the possible mechanical architectures, analysis and synthesis of this type of mechanism. It is intended to be used by students (with over 100 exercises and numerous Internet addresses), researchers (with over 500 references and anonymous ftp access to the code of some algorithms presented in this book) and engineers (for which practical results and applications are presented).
Book Synopsis Proceedings of the 2nd International Conference on Mechanical System Dynamics by : Xiaoting Rui
Download or read book Proceedings of the 2nd International Conference on Mechanical System Dynamics written by Xiaoting Rui and published by Springer Nature. This book was released on with total page 4383 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis On the Time-optimal Trajectory Planning Along Predetermined Geometric Paths and Optimal Control Synthesis for Trajectory Tracking of Robot Manipulators by : Pedro Reynoso Mora
Download or read book On the Time-optimal Trajectory Planning Along Predetermined Geometric Paths and Optimal Control Synthesis for Trajectory Tracking of Robot Manipulators written by Pedro Reynoso Mora and published by . This book was released on 2013 with total page 115 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this dissertation, we study two important subjects in robotics: (i) time-optimal trajectory planning, and (ii) optimal control synthesis methodologies for trajectory tracking. In the first subject, we concentrate on a rather specific sub-class of problems, the time-optimal trajectory planning along predetermined geometric paths. In this kind of problem, a purely geometric path is already known, and the task is to find out how to move along this path in the shortest time physically possible. In order to generate the true fastest solutions achievable by the actual robot manipulator, the complete nonlinear dynamic model should be incorporated into the problem formulation as a constraint that must be satisfied by the generated trajectories and feedforward torques. This important problem was studied in the 1980s, with many related methods for addressing it based on the so-called velocity limit curve and variational methods. Modern formulations directly discretize the problem and obtain a large-scale mathematical optimization problem, which is a prominent approach to tackle optimal control problems that has gained popularity over variational methods, mainly because it allows to obtain numerical solutions for harder problems. We contribute to the referred problem of time-optimal trajectory planning, by extending and improving the existing mathematical optimization formulations. We successfully incorporate the complete nonlinear dynamic model, including viscous friction because for the fastest motions it becomes even more significant than Coulomb friction; of course, Coulomb friction is likewise accommodated for in our formulation. We develop a framework that guarantees exact dynamic feasibility of the generated time-optimal trajectories and feedforward torques. Our initial formulation is carefully crafted in a rather specific manner, so that it allows to naturally propose a convex relaxation that solves exactly the original problem formulation, which is non-convex and therefore hard to solve. In order to numerically solve the proposed formulation, a discretization scheme is also developed. Unlike traditional and modern formulations, we motivate the incorporation of additional criteria to our original formulation, with simulation and experimental studies of three crucial variables for a 6-axis industrial manipulator. Namely, the resulting applied torques, the readings of a 3-axis accelerometer mounted at the manipulator end-effector, and the detrimental effects on the tracking errors induced by pure time-optimal solutions. We therefore emphasize the significance of penalizing a measure of total jerk and of imposing acceleration constraints. These two criteria are incorporated without destroying convexity. The final formulation generates near time-optimal trajectories and feedforward torques with traveling times that are slightly larger than those of pure time-optimal solutions. Nevertheless, the detrimental effects induced by pure time-optimality are eliminated. Experimental results on a 6-axis industrial manipulator confirm that our formulation generates the fastest solutions that can actually be implemented in the real robot manipulator. Following the work done on near time-optimal trajectories, we explore two controller synthesis methodologies for trajectory tracking, which are more suitable to achieve trajectory-tracking under such fast trajectories. In the first approach, we approximate the discrete-time nonlinear dynamics of robot manipulators, moving along the state-reference trajectory, as an affine time-varying (ATV) dynamical system in discrete-time. Therefore, the problem of trajectory tracking for robot manipulators is posed as a linear quadratic (LQ) optimal control problem for a class of discrete-time ATV dynamical systems. Then, an ATV control law to achieve trajectory tracking on the ATV system is developed, which uses LQ methods for linear time-varying (LTV) systems. Since the ATV dynamical system approximates the nonlinear robot dynamics along the state-reference trajectory, the resulting time-varying control law is suitable to achieve trajectory tracking on the robot manipulator. The ATV control law is implemented in experiments for the 6-axis industrial manipulator, tracking the near time-optimal trajectory. Experimental results verify the better performance achieved with the ATV control law, but also expose its shortcomings. The second approach to address trajectory tracking is related in spirit, but different in crucial aspects, which ultimately endow this approach with its superior features. In this novel approach, the highly nonlinear dynamic model of robot manipulators, moving along a state-reference trajectory, is approximated as a class of piecewise affine (PWA) dynamical systems. We propose a framework to construct the referred PWA system, which consists in: (i) choosing strategic operating points on the state-reference trajectory with their respective (local) linearized system dynamics, (ii) constructing ellipsoidal regions centered at the operating points, whose purpose is to facilitate the scheduling strategy of controller gains designed for each local dynamics. Likewise, in order to switch controller gains as the robot state traverses in the direction of the state-reference trajectory, a simple scheduling strategy is proposed. The controller synthesis near each operating point is an LQR-type that takes into account the local coupled dynamics. The referred PWA control law is implemented in experiments for the 6-axis manipulator tracking the near time-optimal trajectory. The experimental results show the feasibility and superiority of the PWA control law over the typical PID controller and the ATV control law.
