Control of a fast parallel robot with a redundant chain and gearboxes: experimental results

2002 ◽  
Author(s):  
S. Kock ◽  
W. Schumacher
Keyword(s):  
Parallel Robot ◽  
Experimental Results

scholarly journals Study on Comprehensive Calibration and Image Sieving for Coal-Gangue Separation Parallel Robot

2020 ◽  
Vol 10 (20) ◽  
pp. 7059
Author(s):  
Deyong Shang ◽  
Yuwei Wang ◽  
Zhiyuan Yang ◽  
Junjie Wang ◽  
Yue Liu
Keyword(s):  
Coordinate System ◽  
Image Recognition ◽  
Calculation Method ◽  
Calibration Method ◽  
Parallel Robot ◽  
Recognition System ◽  
Conveyor Belt ◽  
Coal Gangue ◽  
Experimental Results ◽  
Robot Calibration

Online sorting robots based on image recognition are key pieces of equipment for the intelligent washing of coal mines. In this paper, a Delta-type, coal gangue sorting, parallel robot is designed to automatically identify and sort scattered coal and gangue on conveyor belts by configuring the image recognition system. Robot calibration technology can reduce the influence of installation error on system accuracy and provides the basis for the robot to accurately track and grab gangue. Due to the fact that the angle deflection error between the conveyor belt coordinate system and the robot coordinate system is not considered in the traditional conveyor belt calibration method, an improved comprehensive calibration method is put forward in this paper. Firstly, the working principle and image recognition and positioning process of the Delta coal gangue sorting robot are introduced. The scale factor parameter Factorc of the conveyor encoder is adopted to characterize the relationship between the moving distance of the conveyor and the encoder. The conveyor belt calibration experiment is described in detail. The transformation matrix between the camera, the conveyor belt, and the robot are obtained after establishment of the three respective coordinate systems. The experimental results show that the maximum cumulative deviation of traditional calibration method is 13.841 mm and the comprehensive calibration method is 3.839 mm. The main innovation of the comprehensive calibration is such that the accurate position of each coordinate in the robot coordinate system can be determined. This comprehensive calibration method is simple and feasible, and can effectively improve system calibration accuracy and reduce robot installation error on the grasping accuracy. Moreover, a calculation method to eliminate duplicate images is put forward, with the frame rate of the vision system set at seven frames per second to avoid image repetition acquisition and missing images. The experimental results show that this calculation method effectively improves the processing efficiency of the recognition system, thereby meeting the demands of the grab precision of coal gangue separation engineering. The goal revolving around “safety with few people and safety with none” can therefore be achieved in coal gangue sorting using robots.

Aerial Manipulator Suspended from a Cable-Driven Parallel Robot: Preliminary Experimental Results

2021 ◽  
Author(s):  
Arda Yigit ◽  
Miguel Arpa Perozo ◽  
Mandela Ouafo ◽  
Loic Cuvillon ◽  
Sylvain Durand ◽  
...  
Keyword(s):  
Parallel Robot ◽  
Experimental Results ◽  
Aerial Manipulator

Vision-based calibration of a Hexa parallel robot

2014 ◽  
Vol 41 (3) ◽  
pp. 296-310 ◽  
Author(s):  
Mehdi Dehghani ◽  
Mahdi Ahmadi ◽  
Alireza Khayatian ◽  
Mohamad Eghtesad ◽  
Mehran Yazdi
Keyword(s):  
Parallel Robot ◽  
Calibration Procedure ◽  
Experimental Results ◽  
Kinematic Calibration ◽  
Kinematic Parameters ◽  
Laptop Computer ◽  
Positioning Accuracy ◽  
Content Type ◽  
Calibration Methods ◽  
Usb Camera

Purpose – The purpose of this paper is to present a vision-based method for the kinematic calibration of a six-degrees-of-freedom parallel robot named Hexa using only one Universal Serial Bus (USB) camera and a chess pattern installed on the robot's mobile platform. Such an approach avoids using any internal sensors or complex three-dimensional measurement systems to obtain the pose (position/orientation) of the robot's end-effector or the joint coordinates. Design/methodology/approach – The setup of the proposed method is very simple; only one USB camera connected to a laptop computer is needed and no contact with the robot is necessary during the calibration procedure. For camera modeling, a pinhole model is used; it is then modified by considering some distortion coefficients. Intrinsic and extrinsic parameters and the distortion coefficients are found by an offline minimization algorithm. The chess pattern makes image corner detection very straightforward; this detection leads to finding the camera and then the kinematic parameters. To carry out the calibration procedure, several trajectories are run (the results of two of them are presented here) and sufficient specifications of the poses (positions/orientations) are calculated to find the kinematic parameters of the robot. Experimental results obtained when applying the calibration procedure on a Hexa parallel robot show that vision-based kinematic calibration yields enhanced and efficient positioning accuracy. After successful calibration and addition of an appropriate control scheme, the robot has been considered as a color-painting prototype robot to serve in relevant industries. Findings – Experimental results obtained when applying the calibration procedure on a Hexa parallel robot show that vision-based kinematic calibration yields enhanced and efficient positioning accuracy. Originality/value – The enhanced results show the advantages of this method in comparison with the previous calibration methods.

A calculation method of the reaction force and moment for a Delta-type parallel link robot fixed with a frame

Robotica ◽  
2009 ◽  
Vol 27 (4) ◽  
pp. 579-587 ◽  
Author(s):  
Jangho Hong ◽  
Motoji Yamamoto
Keyword(s):  
Simulation Analysis ◽  
Virtual Work ◽  
Reaction Force ◽  
Parallel Robot ◽  
Euler Method ◽  
Experimental Results ◽  
Joint Torques ◽  
Serial Robots ◽  
Delta Type ◽  
Parallel Link

SUMMARYThe paper presents a method of reaction force and moment calculation for a 3-RSS pure translational parallel link robot (Delta-type parallel robot), in which the inverse and forward kinematics of the parallel link robot are directly analyzed according to kinematic structure of the parallel robot. For dynamic analysis, the parallel robot is imaginarily parted into three serial ones, and their actual joint torques are determined by the virtual work principle. To obtain the reaction force and moment of the parallel robot acting on the base, which is the composition of the reaction forces and moments of the three serial robots, the Newton–Euler Method is adopted. To show the validity of the presented method, the simulation analysis and experimental results are given, the experimental results tally with the calculation value.

scholarly journals Fractional-Order Active Disturbance Rejection Controller for Motion Control of a Novel 6-DOF Parallel Robot

2020 ◽  
Vol 2020 ◽  
pp. 1-7
Author(s):  
Xinxin Shi ◽  
Jiacai Huang ◽  
Fangzheng Gao
Keyword(s):  
Motion Control ◽  
Fractional Order ◽  
Control Strategy ◽  
Disturbance Rejection ◽  
Parallel Robot ◽  
Degree Of Freedom ◽  
Experimental Results ◽  
The Novel ◽  
Linear Motors ◽  
Active Disturbance Rejection

A novel 6-degree-of-freedom (6-DOF) parallel robot driven by six novel linear motors is designed and controlled in this paper. Detailed structures of linear motors are illustrated. A control strategy based on kinematics of the 6-DOF parallel robot is used, and six linear motors are controlled to track their own desired trajectories under a designed fractional-order active disturbance rejection controller (FOADRC). Compared with the normal ADRC, two desired trajectories and three different working situations of a linear motor are simulated to show good performances of the FOADRC. Experimental results show that six linear motors can track their own desired trajectories accurately under payloads and disturbances, and the novel 6-DOF parallel robot can be controlled well.

Rapid Control Prototyping in Design Process of Mechatronic Systems

2010 ◽  
Vol 166-167 ◽  
pp. 247-252 ◽  
Author(s):  
Ciprian Lapusan ◽  
Vistrian Maties ◽  
Radu Balan ◽  
Olimpiu Hancu
Keyword(s):  
Design Process ◽  
Control Strategies ◽  
Parallel Robot ◽  
Experimental Results ◽  
Mechatronic Systems ◽  
Rapid Control ◽  
Rapid Control Prototyping

In the design process of mechatronic systems rapid control prototyping had became an indispensable method for developing and testing control strategies. The paper presents an approach using Matlab and dSpace platforms for implementing rapid control prototyping method. The advantages of using dSpace platform are shown. The method is applied in the design of a parallel robot with 6 DOF. The simulation and experimental results are presented and compared; also the advantages of using rapid control prototyping are presented.

Two DOF Parallel Robot Design and Dynamics Simulation for Quick Picking

2012 ◽  
Vol 236-237 ◽  
pp. 448-453
Author(s):  
De Xue Bi ◽  
Chao Zhuo Guo ◽  
Xu Man Zhang
Keyword(s):  
Three Dimensional ◽  
Parallel Robot ◽  
Experimental Results ◽  
Dynamics Simulation ◽  
Solid Model ◽  
Robot Design ◽  
Dynamics Model ◽  
Simulation And Control ◽  
Design Mechanism ◽  
And Control

This paper presents a new design approach of parallel robot for quick grasp based on parallelogram mechanism，and derives the dynamics model. Using SimMechanics toolbox and simlink toolbox in Matlab Software, and guiding the three dimensional solid model into it, the dynamics simulation and control on two DOF parallel robot is designed and studied. The experimental results show that the design mechanism obtains the anticipated requirement.

Calibration Methods of Planar Parallel Robot

2011 ◽  
Vol 464 ◽  
pp. 340-343
Author(s):  
Wei Da Li ◽  
Juan Li ◽  
Li Ning Sun
Keyword(s):  
Error Compensation ◽  
Calibration Method ◽  
Parallel Robot ◽  
Position Error ◽  
Experimental Results ◽  
Kinematic Calibration ◽  
Absolute Position ◽  
Position Accuracy ◽  
Calibration Methods ◽  
Means Of Measurement

Kinematic calibration is an effective method of improving robotic absolute position accuracy by means of measurement, identification and compensation etc. This paper investigates the technology of kinematic calibration and error compensation for the 2-DOF planar parallel robot. A multi-step calibration method is presented based on error itterative method and nonlinear optimum method. Experimental results indicate that the proposed method can effectively compensate position error of the robot in Oxy plane, and the absolute position error of the calibrated robot is less than 6μm.

Sign in / Sign up

Export Citation Format

Share Document