Zeroing dynamics based motion control scheme for parallel manipulators

2017 ◽  
Vol 53 (2) ◽  
pp. 74-75 ◽  
Author(s):  
Yunong Zhang ◽  
Liangyu He ◽  
Shuai Li ◽  
Dechao Chen ◽  
Yaqiong Ding
Keyword(s):  
Motion Control ◽  
Parallel Manipulators ◽  
Control Scheme

scholarly journals Position-based motion control for parallel manipulators under parametric uncertainties and with finite-time external disturbance rejection

2020 ◽  
Vol 53 (2) ◽  
pp. 8456-8461
Author(s):  
Dmitrii Dobriborsci ◽  
Sergey Kolyubin ◽  
Natalia Gorokhova ◽  
Marina Korotina ◽  
Alexey Bobtsov
Keyword(s):  
Motion Control ◽  
Finite Time ◽  
Disturbance Rejection ◽  
External Disturbance ◽  
Parallel Manipulators ◽  
Parametric Uncertainties

An efficient method for the dynamic modeling and analysis of Stewart parallel manipulator based on the screw theory

2019 ◽  
Vol 234 (3) ◽  
pp. 808-821
Author(s):  
Yulei Hou ◽  
Guoxing Zhang ◽  
Daxing Zeng
Keyword(s):  
Dynamic Model ◽  
Dynamic Modeling ◽  
Parallel Manipulator ◽  
Inverse Dynamics ◽  
Screw Theory ◽  
Parallel Manipulators ◽  
Force Balance ◽  
Constraint Matrix ◽  
Scheme Design ◽  
Control Scheme

Dynamic modeling serves as the fundamental basis for dynamic performance analysis and is an essential aspect of the control scheme design of parallel manipulators. This report presents a concise and efficient solution to the dynamics of Stewart parallel manipulators based on the screw theory. The initial pose of these manipulators is described. Then the pose matrix of each link of the Stewart parallel mechanism is obtained using an inverse kinematics solution and an exponential product formula. Considering the constraint relationship between joints, the constraint matrix of the Stewart parallel manipulator is deduced. In addition, the Jacobian matrix and the twist of each link are obtained. Moreover, by deriving the differential form of the constraint matrix, the spatial acceleration of each link is obtained. Based on the force balance relationship of each link, the inverse dynamics and the general form of the dynamic model of the Stewart parallel manipulator is established and the process of inverse dynamics is summarized. The dynamic model is then verified via dynamic simulation using the ADAMS software. A numerical example is considered to demonstrate the feasibility and effectiveness of this model. The proposed dynamic modeling approach serves as a fundamental basis for structural optimization and control scheme design of the Stewart parallel manipulators.

A Study on Operational Characteristics of SMA Wire Segmented by Thermoelectric Module

2008 ◽  
Vol 580-582 ◽  
pp. 569-572
Author(s):  
Gwang Ho Kim ◽  
Ju Hwan Kim ◽  
Sang Hee Lee ◽  
Sang Moon Shin ◽  
Sang Hwa Jeong
Keyword(s):  
Shape Memory Alloy ◽  
Motion Control ◽  
Humanoid Robot ◽  
Simple Structure ◽  
Thermoelectric Module ◽  
Artificial Muscles ◽  
Key Technology ◽  
Operational Characteristics ◽  
Control Scheme ◽  
Sma Actuator

The robot industry of the 21st century is focused on humanoid robot. It has more intelligence and is able to move dexterously like a biological organ than existing sequence robot. The key technology of this robot is the design of the actuator. To realize the anthropomorphic motion, artificial muscles, such as shape memory alloy and electro active polymer are used. The SMA actuator has good power density and simple structure, but the control scheme of the actuator is difficult. The electro active polymer has good elasticity, but it is difficult to get the required power. In this paper, the performance according to the motion control of segmented SMA wire is evaluated. SMA wire is segmented by thermoelectric modules. The displacement of SMA wire according to load is measured and its hysteresis is surveyed.

Gantry Crane Dynamic Modeling and Motion Control

2013 ◽  
Vol 419 ◽  
pp. 649-653
Author(s):  
Wen Zheng Du ◽  
Zheng Xie ◽  
Fei Lu ◽  
Yuan Cao
Keyword(s):  
Motion Control ◽  
Dynamic Modeling ◽  
Three Dimensional ◽  
Output Regulation ◽  
Gantry Crane ◽  
Control Scheme ◽  
Load Swing ◽  
Optimum Output

In this paper, a new anti-swing control scheme is proposed for a three dimensional gantry crane. The proposed control is based on linear two optimum output regulation technology. The proposed control guarantees not only prompt suppression of load swing but also accurate control of crane position for simultaneous travel, traverse, and hoisting motions of the crane. Furthermore, the proposed control provides practical gain tuning criteria for easy application. The effectiveness of the proposed control is shown by simulation with a three-dimensional gantry crane.

Synchronous Decoupled Motion Control for Power-Wheelchairs

2012 ◽  
Vol 482-484 ◽  
pp. 1904-1911 ◽  
Author(s):  
Fu Yun Yang ◽  
Mi Ching Tsai
Keyword(s):  
Motion Control ◽  
Coupling Effect ◽  
Mechanical Coupling ◽  
Control Framework ◽  
Control Scheme ◽  
Power Wheelchairs ◽  
Outdoor Environments ◽  
Decoupled Motion ◽  
Classic Approach ◽  
The Mathematical Model

Unanticipated disturbances in outdoor environments are the main impediments to the development of motion control for transmission vehicles. Classical synchronous approaches which neglect the mechanical coupling effect are unsuitable for such types of mechanisms. To address this concern, much effort has been made to overcome such difficulties. A synchronous decoupled control framework was proposed based on the multivariable model, in which a decoupling transformation matrix was adopted for improving the corresponding performance. The concept of the proposed control framework is intuitive and quite straightforward. To demonstrate the capacity of the mathematical model as well as the effectiveness of the control scheme, a power-wheelchair was utilized as an illustrated example, where the synchronous performance can be enhanced by almost 50% as compared to the classic approach.

scholarly journals Backstepping control for a 3DOF model helicopter with input and output constraints

2016 ◽  
Vol 14 (1) ◽  
pp. 172988141668713
Author(s):  
Rong Mei ◽  
Qingliang Cui
Keyword(s):  
Motion Control ◽  
Degrees Of Freedom ◽  
External Disturbance ◽  
Input Saturation ◽  
Backstepping Control ◽  
Input And Output ◽  
Control Scheme ◽  
Output Constraints ◽  
Modelling Uncertainties ◽  
Model Helicopter

In this article, a backstepping control scheme is developed for the motion control of a Three degrees of freedom (3DOF) model helicopter with unknown external disturbance, modelling uncertainties and input and output constraints. In the developed robust control scheme, augmented state observers are applied to estimate the unknown states, unknown external disturbance and modelling uncertainties. Auxiliary systems are designed to deal with input saturation. A barrier Lyapunov function is employed to handle the output saturation. The stability of closed-loop system is proved by the Lyapunov method. Simulation results show that the designed control scheme is effective at dealing with the motion control of a 3DOF model helicopter in the presence of unknown external disturbance and modelling uncertainties, and input and output saturation.

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