A note on the inverse dynamic control of parallel manipulators

2009 ◽  
Vol 224 (1) ◽  
pp. 25-32 ◽  
Author(s):  
A Omran ◽  
M Elshabasy
Keyword(s):  
Inverse Dynamics ◽  
Dynamic Control ◽  
Closed Form Solution ◽  
Parallel Manipulators ◽  
Joint Space ◽  
Form Solution ◽  
Control Technique ◽  
Inverse Dynamic ◽  
Inverse Dynamics Control ◽  
Inverse Dynamic Control

This work proposes a simple technique for inverse dynamics control of parallel mani-pulators in a joint space. In this technique, there is no need for forward kinematics, which is exacerbated by no closed-form solution for many parallel manipulators. A set of simulations is introduced to signify the validity of the proposed control technique compared with full joint feedback control.

scholarly journals Linear Positional and Speed Control of Servo Carts Using Inverse Dynamic Control

2021 ◽  
Vol 2021 ◽  
pp. 1-8
Author(s):  
Ibrahim M. Mehedi ◽  
Mohd Heidir Mohd Shah ◽  
Rahtul Jannat
Keyword(s):  
System Simulation ◽  
Dynamic Control ◽  
Speed Control ◽  
Control Technique ◽  
Robust Controller ◽  
Inverse Dynamic ◽  
Lead Compensator ◽  
Simulation Results ◽  
Inverse Dynamic Control ◽  
Dynamic Inverse

Dynamic inverse- (DI-) based control technique has been utilized in many applications and proven to be effective. Recently, the inverse dynamic control (IDC), an expansion to the classical DI technique, has been trending with implementation in many areas. It has been proved that IDC is capable of overcoming some limitations in DI-based techniques, particularly in cancellation of useful nonlinearities. This paper extends the implementation of IDC on the positional and speed control of the linear servo cart system. Simulation results further proves that IDC is an effective and robust controller evidently when comparing it with the proportional velocity and lead compensator controller.

Uncertainty Problems in Model-Based Control of Redundantly Actuated Parallel Manipulators

2008 ◽  
Author(s):  
Andreas Mu¨ller
Keyword(s):  
Inverse Dynamics ◽  
Closed Form Solution ◽  
Parallel Manipulators ◽  
Form Solution ◽  
Torque Control ◽  
Secondary Tasks ◽  
Control Schemes ◽  
Dynamics And Control ◽  
Redundantly Actuated ◽  
Control Forces

The inverse dynamics and control of redundantly actuated PKM in the presence of uncertainties is the focus of this paper. Actuation redundancy allows for a purposeful distribution of control forces, taking into account secondary tasks, such optimal force distribution, active stiffness, and backlash avoiding control. A closed form solution of the inverse dynamics problem for simply redundantly actuated PKM is given. The applicability of the augmented PD and computed torque control schemes is analyzed. It is shown that, in the presence of model uncertainties, adopting the standard control schemes leads to parasitic perturbation forces that can not be compensated by the controls. An amended version of these control scheme is proposed that does not suffer from such effects.

scholarly journals Robust Fixed-Time Inverse Dynamic Control for Uncertain Robot Manipulator System

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-12
Author(s):  
Yang Wang ◽  
Mingshu Chen ◽  
Yu Song
Keyword(s):  
Robust Control ◽  
Inverse Dynamics ◽  
Control Method ◽  
Robot Manipulator ◽  
Dynamic Control ◽  
Fixed Time ◽  
Inverse Dynamic ◽  
Time Control ◽  
Control Scheme ◽  
Inverse Dynamic Control

This paper proposes a novel robust fixed-time control for the robot manipulator system with uncertainties. Based on the uniform robust exact differentiator (URED) algorithm, a robust control term is constructed. Then, a robust fixed-time inverse dynamics control (IDC) is proposed. For the proposed control method, the fixed-time stability of a closed-loop system with uncertainties is strictly proved. The newly proposed method exhibits the following two attractive features. First, the proposed control scheme extends the existing fixed-time IDC for the robot manipulator system to the robust control scheme. Second, the proposed method is strictly nonsingular rather than the commonly used approximate approach. Simulation result demonstrates the effectiveness of the proposed control scheme.

scholarly journals Mobility analysis of a robotic cardiopulmonary resuscitation device

2021 ◽  
Author(s):  
Mahdi Ardestani ◽  
Mohsen Asgari
Keyword(s):  
Parallel Mechanism ◽  
Jacobian Matrix ◽  
Closed Form Solution ◽  
Parallel Manipulators ◽  
Optimization Method ◽  
Form Solution ◽  
Mobility Analysis ◽  
Chest Compressions ◽  
Singularity Problem ◽  
Lower Mobility

Abstract During chest compressions action, in CPR (CPR), the 2 arms of the rescuer constitute a parallel mechanism. Inspired by this performance, during this study a specific family of lower mobility parallel manipulators by employing a modified version of Delta robot is proposed for chest compressions in rescuing a patient. One of the biggest differences between this mechanism and the Delta parallel mechanism is that the position of the three active connections of the robot relative to each other has changed the geometry of the platforms. Also, it shapes the asymmetrical structure within the robot mechanism and its workspace. Another difference is due to the architectural optimization method considering the mixed performance index, which has been used during this mechanism to achieve a much better compromise between the manipulator dexterity and its workspace. Within the present paper, after introducing the architecture of the robot, a closed-form solution is developed for the kinematic problem and therefore the results are verified using MSC. Adams©. Then Jacobian matrix is generated to gauge the singularity problem of the proposed mechanism. then, the workspace of the robot is investigated and compared with the original Delta mechanism.

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