scholarly journals Using a Development Platform with an STM32 Processor to Prototype an Inexpensive 4-DoF Delta Parallel Robot

Sensors ◽  
2021 ◽  
Vol 21 (23) ◽  
pp. 7962
Author(s):  
Pawel Andrzej Laski ◽  
Mateusz Smykowski
Keyword(s):  
Control System ◽  
Control Object ◽  
Kinematic Chain ◽  
Parallel Robot ◽  
Inverse Kinematic ◽  
Degree Of Freedom ◽  
Research Results ◽  
Development Platform ◽  
Simulation Control

This article presents a construction prototype of a delta 4-DoF (Degree of Freedom) parallel robot. The structure of kinematic chain was described and the problem of inverse kinematic was formulated and solved. The author also proposed a concept of a control system. The dynamics of the control object were specified, a decision upon the controller and its settings was made, as well as simulation control studies of manipulator drive were conducted. The article contains a description of prepared applications and procedures as well as the research results of the manipulator.

scholarly journals Intelligent anti-lock braking system of electric vehicle with the possibility of mixed braking using fuzzy logic

2021 ◽  
Vol 2061 (1) ◽  
pp. 012101
Author(s):  
A A Umnitsyn ◽  
S V Bakhmutov
Keyword(s):  
Fuzzy Logic ◽  
Control System ◽  
Electric Vehicle ◽  
Control Object ◽  
Electric Machines ◽  
Research Results ◽  
Braking System ◽  
Tracking Algorithms ◽  
Driving Conditions

Abstract This article discusses the work of an intelligent anti-lock braking system (ABS), in which electric machines and friction brakes act as actuators. Combining several actuators at one control object is a difficult task. One of the possible ways to solve it is the use of a control system based on fuzzy logic. The paper compares two tracking algorithms for controlling the actuators of the anti-lock braking system: - slipping control using mixed braking, with a control system based on fuzzy logic; - slipping control by means of braking by one actuator - friction brakes. Research results have shown that the use of mixed braking allows one to increase the performance of this system in various driving conditions.

Robust Two-degree-of-freedom Control Based on H∞ Method for PMSM Drive System

2020 ◽  
Vol 13 (4) ◽  
pp. 496-506
Author(s):  
Qixin Zhu ◽  
Lei Xiong ◽  
Hongli Liu ◽  
Yonghong Zhu ◽  
Guoping Zhang
Keyword(s):  
Control System ◽  
Control Theory ◽  
Position Control ◽  
Dynamic Performance ◽  
Servo System ◽  
Degree Of Freedom ◽  
Trade Off ◽  
Standard Design ◽  
Position Controller ◽  
Two Degree Of Freedom

Background: The conventional method using one-degree-of-freedom (1DOF) controller for Permanent Magnet Synchronous Motor (PMSM) servo system has the trade-off problem between the dynamic performance and the robustness. Methods: In this paper, by using H∞ control theory, a novel robust two-degree-of-freedom (2DOF) controller has been proposed to improve the position control performance of PMSM servo system. Using robust control theory and 2DOF control theory, a H∞ robust position controller has been designed and discussed in detail. Results: The trade-off problem between the dynamic performance and robustness which exists in one-degree-of-freedom (1DOF) control can be dealt with by the application of 2DOF control theory. Then, through H∞ control theory, the design of robust position controller can be translated to H∞ robust standard design problem. Moreover, the control system with robust controller has been proved to be stable. Conclusion: Further simulation results demonstrate that compared with the conventional PID control, the designed control system has better robustness and attenuation to the disturbance of load impact.

Direct Differential Kinematics of Hybrid-Chain Manipulators Including Singularity and Stability Analyses

1994 ◽  
Vol 116 (2) ◽  
pp. 614-621 ◽  
Author(s):  
Yong-Xian Xu ◽  
D. Kohli ◽  
Tzu-Chen Weng
Keyword(s):  
Stability Index ◽  
Inverse Kinematic ◽  
Degree Of Freedom ◽  
Static Force ◽  
Force Analysis ◽  
Kinematic Singularity ◽  
Numerical Examples ◽  
Transformation Matrices ◽  
Unstable Configuration ◽  
Direct Kinematics

A general formulation for the differential kinematics of hybrid-chain manipulators is developed based on transformation matrices. This formulation leads to velocity and acceleration analyses, as well as to the formation of Jacobians for singularity and unstable configuration analyses. A manipulator consisting of n nonsymmetrical subchains with an arbitrary arrangement of actuators in the subchain is called a hybrid-chain manipulator in this paper. The Jacobian of the manipulator (called here the system Jacobian) is a product of two matrices, namely the Jacobian of a leg and a matrix M containing the inverse of a matrix Dk, called the Jacobian of direct kinematics. The system Jacobian is singular when a leg Jacobian is singular; the resulting singularity is called the inverse kinematic singularity and it occurs at the boundary of inverse kinematic solutions. When the Dk matrix is singular, the M matrix and the system Jacobian do not exist. The singularity due to the singularity of the Dk matrix is the direct kinematic singularity and it provides positions where the manipulator as a whole loses at least one degree of freedom. Here the inputs to the manipulator become dependent on each other and are locked. While at these positions, the platform gains at least one degree of freedom, and becomes statically unstable. The system Jacobian may be used in the static force analysis. A stability index, defined in terms of the condition number of the Dk matrix, is proposed for evaluating the proximity of the configuration to the unstable configuration. Several illustrative numerical examples are presented.

Three-Degree-of-Freedom Parallel Robot Arm

2006 ◽  
Author(s):  
Martin Hosek ◽  
Michael Valasek ◽  
Jairo Moura
Keyword(s):  
Parallel Robot ◽  
Degree Of Freedom ◽  
Motion Path ◽  
Angular Orientation ◽  
Robot Arm ◽  
Flat Panel Display ◽  
End Effector ◽  
Cluster Tools ◽  
Manufacturing Applications ◽  
Three Degree Of Freedom

This paper presents single- and dual-end-effector configurations of a planar three-degree of freedom parallel robot arm designed for automated pick-place operations in vacuum cluster tools for semiconductor and flat-panel-display manufacturing applications. The basic single end-effector configuration of the arm consists of a pivoting base platform, two elbow platforms and a wrist platform, which are connected through two symmetric pairs of parallelogram mechanisms. The wrist platform carries an end-effector, the position and angular orientation of which can be controlled independently by three motors located at the base of the robot. The joints and links of the mechanism are arranged in a unique geometric configuration which provides a sufficient range of motion for typical vacuum cluster tools. The geometric properties of the mechanism are further optimized for a given motion path of the robot. In addition to the basic symmetric single end-effector configuration, an asymmetric costeffective version of the mechanism is derived, and two dual-end-effector alternatives for improved throughput performance are described. In contrast to prior attempts to control angular orientation of the end-effector(s) of the conventional arms employed currently in vacuum cluster tools, all of the motors that drive the arm can be located at the stationary base of the robot with no need for joint actuators carried by the arm or complicated belt arrangements running through the arm. As a result, the motors do not contribute to the mass and inertia properties of the moving parts of the arm, no power and signal wires through the arm are necessary, the reliability and maintenance aspects of operation are improved, and the level of undesirable particle generation is reduced. This is particularly beneficial for high-throughput applications in vacuum and particlesensitive environments.

A Novel Vertical Lift Machine and its Precise Pose Control

2014 ◽  
Vol 989-994 ◽  
pp. 3105-3109
Author(s):  
Xiao Bo Liu ◽  
Xiao Feng Wei ◽  
Xiao Dong Yuan ◽  
Wei Ni
Keyword(s):  
Control System ◽  
Theoretical Analysis ◽  
Control Method ◽  
High Accuracy ◽  
Inverse Kinematic ◽  
Design Model ◽  
Pose Control ◽  
Vertical Lift ◽  
Position And Orientation ◽  
Control Principle

This paper deals with the design and theoretical analysis on a novel vertical lift machine which can vertically lift above 700 kg load up to 3.2 meters above the floor and located the load with high accuracy of position and orientation. Firstly the design model based on the installment demands of line-replaceable units (LRUs) is constructed. Then theoretical analysis including the number of degree of freedom of the lift machine, the inverse kinematic, the control principle, the lift platform pose error and the precise pose control method are conducted in the article. The validity of the design model and the effectiveness of the precise pose control system are confirmed by experiments using a prototype lift machine.

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