Freeform laser manufacturing based on a parallel robot platform

2015 ◽  
Author(s):  
Rainer Beck ◽  
Piotr Jaworski ◽  
Nick Weston ◽  
Duncan Hand ◽  
Jonathan Shephard
Keyword(s):  
Parallel Robot ◽  
Parallel Robot Platform ◽  
Laser Manufacturing ◽  
Robot Platform

A nature inspired optimal control of pneumatic-driven parallel robot platform

2016 ◽  
Vol 231 (1) ◽  
pp. 59-71 ◽  
Author(s):  
Dragan Pršić ◽  
Novak Nedić ◽  
Vladimir Stojanović
Keyword(s):  
Optimal Control ◽  
Feedback Linearization ◽  
Degrees Of Freedom ◽  
Complex Dynamics ◽  
Parallel Robot ◽  
Environmental Safety ◽  
Strong Nonlinearity ◽  
Control Techniques ◽  
Parallel Robot Platform ◽  
Robot Platform

Woodworking industry is increasingly characterized by processing complex spatial forms with high accuracy and high speeds. The use of parallel robot platforms with six degrees of freedom gains more significance. Due to stricter requirements regarding energy consumption, easy maintenance and environmental safety, parallel platforms with pneumatic drives become more and more interesting. However, the high precision tracking control of such systems represents a serious challenge for designers. The reason is found in complex dynamics of the mechanical system and strong nonlinearity of the pneumatic system. This paper presents an optimal control design for a pneumatically driven parallel robot platform. The Proportional-Integral-Derivative (PID) algorithm with feedback linearization is used for control. The parameter search method is based on a firefly algorithm due to the empirical evidence of its superiority in solving various nonconvex problems. The simulation results show that the proposed optimal tuned cascade control is effective and efficient. These results clearly demonstrate that the proposed control techniques exhibit significant performance improvement over classical and widely used control techniques.

Optimal control of hydraulically driven parallel robot platform based on firefly algorithm

2015 ◽  
Vol 82 (3) ◽  
pp. 1457-1473 ◽  
Author(s):  
Novak Nedic ◽  
Vladimir Stojanovic ◽  
Vladimir Djordjevic
Keyword(s):  
Optimal Control ◽  
Firefly Algorithm ◽  
Parallel Robot ◽  
Parallel Robot Platform ◽  
Robot Platform

Optimal cascade hydraulic control for a parallel robot platform by PSO

2014 ◽  
Vol 72 (5-8) ◽  
pp. 1085-1098 ◽  
Author(s):  
Novak Nedic ◽  
Dragan Prsic ◽  
Ljubisa Dubonjic ◽  
Vladimir Stojanovic ◽  
Vladimir Djordjevic
Keyword(s):  
Parallel Robot ◽  
Hydraulic Control ◽  
Parallel Robot Platform ◽  
Robot Platform

scholarly journals Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint Robot

2017 ◽  
Vol 2017 ◽  
pp. 1-14 ◽  
Author(s):  
Leijie Jiang ◽  
Bingtuan Gao ◽  
Zhenyu Zhu
Keyword(s):  
Nonlinear Control ◽  
Shoulder Joint ◽  
Control Method ◽  
Parallel Robot ◽  
Control Scheme ◽  
Flexible Parts ◽  
Parallel Robot Platform ◽  
Flexible Deformation ◽  
Nonlinear Control Method ◽  
Robot Platform

The paper focuses on the design and nonlinear control of the humanoid wrist/shoulder joint based on the cable-driven parallel mechanism which can realize roll and pitch movement. In view of the existence of the flexible parts in the mechanism, it is necessary to solve the vibration control of the flexible wrist/shoulder joint. In this paper, a cable-driven parallel robot platform is developed for the experiment study of the humanoid wrist/shoulder joint. And the dynamic model of the mechanism is formulated by using the coupling theory of the flexible body’s large global motion and small flexible deformation. Based on derived dynamics, antivibration control of the joint robot is studied with a nonlinear control method. Finally, simulations and experiments were performed to validate the feasibility of the developed parallel robot prototype and the proposed control scheme.

Developing a Kinematic Estimation Model for a Climbing Mobile Robotic Welding System

2010 ◽  
Author(s):  
Aaron T. O’Toole ◽  
Stephen L. Canfield
Keyword(s):  
Kinematic Model ◽  
Robotic Welding ◽  
Estimation Model ◽  
Mobile Platforms ◽  
Low Profile ◽  
Turning Radius ◽  
Equivalence Model ◽  
Kinematic Equivalence ◽  
Welding System ◽  
Robot Platform

Skid steer tracked-based robots are popular due to their mechanical simplicity, zero-turning radius and greater traction. This architecture also has several advantages when employed by mobile platforms designed to climb and navigate ferrous surfaces, such as increased magnet density and low profile (center of gravity). However, creating a kinematic model for localization and motion control of this architecture is complicated due to the fact that tracks necessarily slip and do not roll. Such a model could be based on a heuristic representation, an experimentally-based characterization or a probabilistic form. This paper will extend an experimentally-based kinematic equivalence model to a climbing, track-based robot platform. The model will be adapted to account for the unique mobility characteristics associated with climbing. The accuracy of the model will be evaluated in several representative tasks. Application of this model to a climbing mobile robotic welding system (MRWS) is presented.

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