Nonlinear Position Control of a Very Flexible Parallel Robot Manipulator

2019 ◽  
pp. 155-162
Author(s):  
Peter Eberhard ◽  
Fatemeh Ansarieshlaghi
Keyword(s):  
Position Control ◽  
Robot Manipulator ◽  
Parallel Robot

scholarly journals Proposal of a Decoupled Structure of Fuzzy-PID Controllers Applied to the Position Control in a Planar CDPR

Electronics ◽  
2021 ◽  
Vol 10 (6) ◽  
pp. 745
Author(s):  
Marco Carpio ◽  
Roque Saltaren ◽  
Julio Viola ◽  
Cristian Calderon ◽  
Juan Guerra
Keyword(s):  
Position Control ◽  
Control Structure ◽  
Parallel Robot ◽  
Pid Controllers ◽  
Fuzzy Pid ◽  
End Effector ◽  
Robot Systems ◽  
Decoupled Control ◽  
The Mathematical Model ◽  
Decoupled Structure

The design of robot systems controlled by cables can be relatively difficult when it is approached from the mathematical model of the mechanism, considering that its approach involves non-linearities associated with different components, such as cables and pulleys. In this work, a simple and practical decoupled control structure proposal that requires practically no mathematical analysis was developed for the position control of a planar cable-driven parallel robot (CDPR). This structure was implemented using non-linear fuzzy PID and classic PID controllers, allowing performance comparisons to be established. For the development of this research, first the structure of the control system was proposed, based on an analysis of the cables involved in the movement of the end-effector (EE) of the robot when they act independently for each axis. Then a tuning of rules was carried out for fuzzy PID controllers, and Ziegler–Nichols tuning was applied to classic PID controllers. Finally, simulations were performed in MATLAB with the Simulink and Simscape tools. The results obtained allowed us to observe the effectiveness of the proposed structure, with noticeably better performance obtained from the fuzzy PID controllers.

scholarly journals A Novel Kinematically Redundant Planar Parallel Robot Manipulator With Full Rotatability

2018 ◽  
Vol 11 (1) ◽  
Author(s):  
Nicholas Baron ◽  
Andrew Philippides ◽  
Nicolas Rojas
Keyword(s):  
Potential Application ◽  
Robot Manipulator ◽  
Video Recording ◽  
Parallel Robot ◽  
Singularity Analysis ◽  
Geometric Method ◽  
Forward Kinematics ◽  
Online Video ◽  
End Effector ◽  
Moving Platform

This paper presents a novel kinematically redundant planar parallel robot manipulator, which has full rotatability. The proposed robot manipulator has an architecture that corresponds to a fundamental truss, meaning that it does not contain internal rigid structures when the actuators are locked. This also implies that its rigidity is not inherited from more general architectures or resulting from the combination of other fundamental structures. The introduced topology is a departure from the standard 3-RPR (or 3-RRR) mechanism on which most kinematically redundant planar parallel robot manipulators are based. The robot manipulator consists of a moving platform that is connected to the base via two RRR legs and connected to a ternary link, which is joined to the base by a passive revolute joint, via two other RRR legs. The resulting robot mechanism is kinematically redundant, being able to avoid the production of singularities and having unlimited rotational capability. The inverse and forward kinematics analyses of this novel robot manipulator are derived using distance-based techniques, and the singularity analysis is performed using a geometric method based on the properties of instantaneous centers of rotation. An example robot mechanism is analyzed numerically and physically tested; and a test trajectory where the end effector completes a full cycle rotation is reported. A link to an online video recording of such a capability, along with the avoidance of singularities and a potential application, is also provided.

A hybrid impedance control scheme for underwater welding robots with a passive foundation in the controller domain

SIMULATION ◽  
2017 ◽  
Vol 93 (7) ◽  
pp. 619-630 ◽  
Author(s):  
Sunil Kumar ◽  
Vikas Rastogi ◽  
Pardeep Gupta
Keyword(s):  
Minimum Distance ◽  
Position Control ◽  
Robot Manipulator ◽  
Impedance Control ◽  
Graph Model ◽  
Proportional Integral Derivative ◽  
End Effector ◽  
Flexible Arm ◽  
Control Scheme ◽  
Effective Stability

A hybrid impedance control scheme for the force and position control of an end-effector is presented in this paper. The interaction of the end-effector is controlled using a passive foundation with compensation gain. For obtaining the steady state, a proportional–integral–derivative controller is tuned with an impedance controller. The hybrid impedance controller is implemented on a terrestrial (ground) single-arm robot manipulator. The modeling is done by creating a bond graph model and efficacy is substantiated through simulation results. Further, the hybrid impedance control scheme is applied on a two-link flexible arm underwater robot manipulator for welding applications. Underwater conditions, such as hydrodynamic forces, buoyancy forces, and other disturbances, are considered in the modeling. During interaction, the minimum distance from the virtual wall is maintained. A simulation study is carried out, which reveals some effective stability of the system.

scholarly journals Open-loop position control of a polymer cable–driven parallel robot via a viscoelastic cable model for high payload workspaces

2017 ◽  
Vol 9 (12) ◽  
pp. 168781401773719 ◽  
Author(s):  
Jinlong Piao ◽  
XueJun Jin ◽  
Jinwoo Jung ◽  
Eunpyo Choi ◽  
Jong-Oh Park ◽  
...  
Keyword(s):  
Position Control ◽  
Parallel Robot ◽  
Open Loop ◽  
Cable Model ◽  
High Payload

Vision-Based Tip Position Control of a Single-Link Robot Manipulator

2019 ◽  
Author(s):  
Umesh Kumar Sahu ◽  
Arun Mishra ◽  
Biswajeet Sahu ◽  
Prateek Priyaranjan Pradhan ◽  
Dipti Patra ◽  
...  
Keyword(s):  
Position Control ◽  
Robot Manipulator ◽  
Single Link ◽  
Tip Position
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