scholarly journals Computed torque control of a 2-RR planar parallel robot // Control por par calculado de un robot paralelo planar 2-RR

Prospectiva ◽  
2017 ◽  
Vol 15 (2) ◽  
pp. 85-95 ◽  
Author(s):  
Eugenio Yime ◽  
Javier Roldán Mckenley ◽  
Jose Luis Villa Ramirez
Keyword(s):  
Robot Control ◽  
Parallel Robot ◽  
Torque Control ◽  
Computed Torque Control ◽  
Computed Torque

Se presentan el diseño, la construcción y el control de un mecanismo plano de cinco eslabones con cinco juntas de revoluta y dos grados de libertad. Se implementó el control por par calculado en el espacio articular para lograr una trayectoria deseada. Se desarrolló la cinemática de posición y de velocidad, tanto directa como inversa, y únicamente la cinemática inversa de aceleración como parámetro requerido en la ley de control. El enfoque escogido para este robot paralelo es ventajoso puesto que permite obtener una ecuación dinámica similar al modelamiento convencional de robots seriales, lo cual facilita la implementación de técnicas de control no lineal. La validez del enfoque planteado y la funcionalidad del controlador se verifican experimentalmente mediante la generación de una trayectoria circular por el efector. A pesar de la concordancia entre la simulación y los resultados experimentales, se sugiere como futuro trabajo el cambio en la estrategia de control para compensar efectos no modelados del sistema.

A PD Computed Torque Control Method with Online Self-gain Tuning for a 3UPS-PS Parallel Robot

Robotica ◽  
2021 ◽  
pp. 1-13
Author(s):  
Xiaogang Song ◽  
Yongjie Zhao ◽  
Chengwei Chen ◽  
Liang’an Zhang ◽  
Xinjian Lu
Keyword(s):  
Feedback Loop ◽  
Control Method ◽  
Virtual Work ◽  
Parallel Robot ◽  
Torque Control ◽  
Virtual Work Principle ◽  
Tuning Method ◽  
Computed Torque Control ◽  
Control Feedback ◽  
Computed Torque

SUMMARY In this paper, an online self-gain tuning method of a PD computed torque control (CTC) is used for a 3UPS-PS parallel robot. The CTC is applied to the 3UPS-PS parallel robot based on the robot dynamic model which is established via a virtual work principle. The control system of the robot comprises a nonlinear feed-forward loop and a PD control feedback loop. To implement real-time online self-gain tuning, an adjustment method based on the genetic algorithm (GA) is proposed. Compared with the traditional CTC, the simulation results indicate that the control algorithm proposed in this study can not only enhance the anti-interference ability of the system but also improve the trajectory tracking speed and the accuracy of the 3UPS-PS parallel robot.

scholarly journals Application of predictive control techniques within parallel robot

2012 ◽  
Vol 23 (5) ◽  
pp. 530-540 ◽  
Author(s):  
Fabian Andres Lara-Molina ◽  
João Maurício Rosário ◽  
Didier Dumur ◽  
Philippe Wenger
Keyword(s):  
Predictive Control ◽  
Tracking Control ◽  
Parallel Robot ◽  
Torque Control ◽  
Control Techniques ◽  
Computed Torque Control ◽  
Youla Parameterization ◽  
Position Tracking Control ◽  
Control Application ◽  
Computed Torque

This paper addresses the position tracking control application of a parallel robot using predictive control techniques. A Generalized Predictive Control strategy (GPC), which considers the linear dynamic model, is used to enhance the tracking position accuracy. The robustification of GPC against measurement noise and neglected dynamics using Youla parameterization is performed. A simulation of the orthoglide robot considering uncertainties related to geometrical and dynamic parameters, sensors noise and frictions is performed on two different trajectories. Finally, it is compared the ro-bustified GPC controller with the classical Computed Torque Control (CTC). The robustified GPC controller shows a better performance for high accelerations and it also reduces the effect of the noise in the control signal of the parallel robot.

scholarly journals COMPUTED TORQUE CONTROL FOR A SPATIAL DISORIENTATION TRAINER

2020 ◽  
Vol 18 (2) ◽  
pp. 269
Author(s):  
Jelena Vidaković ◽  
Vladimir Kvrgić ◽  
Mihailo Lazarević ◽  
Pavle Stepanić
Keyword(s):  
Control System ◽  
Robot Control ◽  
Inverse Dynamics ◽  
Control Method ◽  
Robot Manipulator ◽  
Training System ◽  
Torque Control ◽  
Spatial Disorientation ◽  
Computed Torque Control ◽  
Computed Torque

A development of a robot control system is a highly complex task due to nonlinear dynamic coupling between the robot links. Advanced robot control strategies often entail difficulties in implementation, and prospective benefits of their application need to be analyzed using simulation techniques. Computed torque control (CTC) is a feedforward control method used for tracking of robot’s time-varying trajectories in the presence of varying loads. For the implementation of CTC, the inverse dynamics model of the robot manipulator has to be developed. In this paper, the addition of CTC compensator to the feedback controller is considered for a Spatial disorientation trainer (SDT). This pilot training system is modeled as a 4DoF robot manipulator with revolute joints. For the designed mechanical structure, chosen actuators and considered motion of the SDT, CTC-based control system performance is compared with the traditional speed PI controller using the realistic simulation model. The simulation results, which showed significant improvement in the trajectory tracking for the designed SDT, can be used for the control system design purpose as well as within mechanical design verification.

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