scholarly journals Trajectory Tracking Control of Parallel Manipulator with Integral Manifold and Observer

2019 ◽  
Author(s):  
Zhengsheng Chen
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Parallel Manipulator ◽  
Integral Manifold ◽  
Trajectory Tracking Control

Modeling and trajectory tracking control of 6-DOF RSS type parallel manipulator

Robotica ◽  
2013 ◽  
Vol 32 (4) ◽  
pp. 643-657 ◽  
Author(s):  
Ahmet Dumlu ◽  
Koksal Erenturk
Keyword(s):  
Dynamic Model ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Parallel Manipulator ◽  
Dynamic Models ◽  
Torque Control ◽  
Complete Model ◽  
Trajectory Tracking Control ◽  
Coupling System

SUMMARYIn this study, kinematic analysis of 6-DOF RSS parallel manipulator using Denavit Hartenbeng (D-H) method is investigated. In addition, in order to improve the proposed method, determination of all the active and passive angles, required to obtain Jacobian and complete dynamic model of manipulator, is also achieved. The effects of dynamic models of 6-DOF RSS parallel manipulator with its actuators on trajectory tracking control are studied in detail. Feedback dynamic compensation terms of motor-mechanism coupling system that is needed to compute torque control are obtained through both a single link approximation model and a complete dynamic model. The complete model is derived by taking account of the interaction between the input links and coupler links of the manipulator. Simulations showed that obtaining complete model of manipulator by means of D-H method and using computed control law could improve the quality of trajectory tracking control of parallel manipulator.

Robust Trajectory Tracking Control of Elastic Robot Manipulators

1997 ◽  
Vol 119 (4) ◽  
pp. 727-735 ◽  
Author(s):  
Yoshifumi Morita ◽  
Hiroyuki Ukai ◽  
Hisashi Kando
Keyword(s):  
Trajectory Tracking ◽  
Control Strategy ◽  
Tracking Control ◽  
Robot Manipulators ◽  
Integral Manifold ◽  
Design Procedure ◽  
Trajectory Tracking Control ◽  
Composite Control ◽  
Structured Uncertainty ◽  
Nonlinear Mechanical

In this paper, a robust control strategy is proposed for the trajectory tracking control of multi-link elastic robot manipulators. The robustness against both of the structured uncertainty caused by the nonlinear mechanical structure and the unstructured one caused by elasticity of links is taken into account in designing controllers. For this purpose the model of elastic robot manipulators is decomposed into the slow model and the fast model by using an integral manifold approach. The slow controller, which is robust against the structured uncertainty, is designed for the slow model on the basis of VSS theory. On the other hand, the fast controller, which is robust against the unstructured uncertainty, is designed for the fast model on the basis of H∞ control theory. Then the composite control is constructed with the slow controller and the fast controller. Some results of numerical simulations are presented to show the effectiveness of this design procedure.

scholarly journals Trajectory Tracking Control of Parallel Manipulator Based on Udwadia-Kalaba Approach

2017 ◽  
Vol 2017 ◽  
pp. 1-12 ◽  
Author(s):  
Chenming Li ◽  
Han Zhao ◽  
Shengchao Zhen ◽  
Kang Huang ◽  
Hao Sun ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Parallel Manipulator ◽  
Structural Constraints ◽  
Constraint Forces ◽  
Trajectory Tracking Control ◽  
Lagrangian Multipliers ◽  
Explicit Equation ◽  
Performance Constraints ◽  
And Performance

There have been many approaches for achieving the trajectory tracking control of parallel manipulator. However, these approaches are complex for calculating Lagrangian multipliers. In this paper, unlike the former approaches, a new approach of trajectory tracking control which is based on Udwadia-Kalaba approach is presented. Using this methodology, we can obtain a concise and explicit equation of motion and consider holonomic and nonholonomic constraint whether it is ideal or nonideal simultaneously. The most important difference is that we divide constraints into structural constraints and performance constraints in this paper. Structural constraints are used to establish dynamic model without regard for trajectory control. And performance constraints are used to represent the desired trajectory. For the parallel manipulator, a nonlinear dynamics system, its constraint forces are obtained by second-order constraints. And the numerical simulation in MATLAB shows the parallel manipulator’s movement meets the requirement; tracking trajectory is exact and perfect. Through this paper, we can see that the method can simplify calculation availably.

scholarly journals Inverse dynamics and trajectory tracking control of a new six degrees of freedom spatial 3-RPRS parallel manipulator

2017 ◽  
Vol 8 (2) ◽  
pp. 235-248 ◽  
Author(s):  
Santhakumar Mohan ◽  
Burkhard Corves
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Inverse Dynamics ◽  
Virtual Prototype ◽  
Trajectory Tracking Control ◽  
Six Degrees Of Freedom ◽  
Control Scheme ◽  
Computer Based

Abstract. This paper presents the complete dynamic model of a new six degrees of freedom (DOF) spatial 3-RPRS parallel manipulator. The geometry parameters of the manipulator are optimized for a given constant orientation workspace. Further, a robust task-space trajectory tracking control is also designed for the manipulator along with a nonlinear disturbance observer. To demonstrate the efficacy and show the complete performance of the proposed controller, virtual prototype experiments are executed using one of the multibody dynamics software namely MSC Adams. The computer-based virtual prototype experiment results show that the manipulator tracking performance is satisfactory with the proposed control scheme. In addition, the controller parameter sensitivity and robustness analyses are also accomplished.

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