Kinematics and Dynamics Modeling of a New 4-DOF Cable-Driven Parallel Manipulator

2013 ◽  
pp. 249-265
Author(s):  
Hamoon Hadian ◽  
Yasser Amooshahi ◽  
Abbas Fattah
Keyword(s):  
Dynamic Model ◽  
Parallel Manipulator ◽  
Joint Space ◽  
Kinematics And Dynamics ◽  
Dynamics Modeling ◽  
Kinematic Constraint ◽  
Control Scheme ◽  
Minimum Number ◽  
Dynamical Properties ◽  
Computed Torque

This paper addresses the kinematics and dynamics modeling of a 4-DOF cable-driven parallel manipulator with new architecture and a typical Computed Torque Method (CTM) controller is developed for dynamic model in SimMechanics. The novelty of kinematic architecture and the closed loop formulation is presented. The workspace model of mechanism’s dynamic is obtained in an efficient and compact form by means of natural orthogonal complement (NOC) method which leads to the elimination of the nonworking kinematic-constraint wrenches and also to the derivation of the minimum number of equations. To verify the dynamic model and analyze the dynamical properties of novel 4-DOF cable-driven parallel manipulator, a typical CTM control scheme in joint-space is designed for dynamic model in SimMechanics.

Kinematics and Dynamics Modeling of a New 4-DOF Cable-Driven Parallel Manipulator

2011 ◽  
Vol 1 (4) ◽  
pp. 44-60 ◽  
Author(s):  
Hamoon Hadian ◽  
Yasser Amooshahi ◽  
Abbas Fattah
Keyword(s):  
Dynamic Model ◽  
Parallel Manipulator ◽  
Closed Loop ◽  
Joint Space ◽  
Kinematics And Dynamics ◽  
Dynamics Modeling ◽  
Kinematic Constraint ◽  
Control Scheme ◽  
Minimum Number ◽  
Computed Torque

This paper addresses the kinematics and dynamics modeling of a 4-DOF cable-driven parallel manipulator with new architecture and a typical Computed Torque Method (CTM) controller is developed for dynamic model in SimMechanics. The novelty of kinematic architecture and the closed loop formulation is presented. The workspace model of mechanism’s dynamic is obtained in an efficient and compact form by means of natural orthogonal complement (NOC) method which leads to the elimination of the nonworking kinematic-constraint wrenches and also to the derivation of the minimum number of equations. To verify the dynamic model and analyze the dynamical properties of novel 4-DOF cable-driven parallel manipulator, a typical CTM control scheme in joint-space is designed for dynamic model in SimMechanics.

An efficient method for the dynamic modeling and analysis of Stewart parallel manipulator based on the screw theory

2019 ◽  
Vol 234 (3) ◽  
pp. 808-821
Author(s):  
Yulei Hou ◽  
Guoxing Zhang ◽  
Daxing Zeng
Keyword(s):  
Dynamic Model ◽  
Dynamic Modeling ◽  
Parallel Manipulator ◽  
Inverse Dynamics ◽  
Screw Theory ◽  
Parallel Manipulators ◽  
Force Balance ◽  
Constraint Matrix ◽  
Scheme Design ◽  
Control Scheme

Dynamic modeling serves as the fundamental basis for dynamic performance analysis and is an essential aspect of the control scheme design of parallel manipulators. This report presents a concise and efficient solution to the dynamics of Stewart parallel manipulators based on the screw theory. The initial pose of these manipulators is described. Then the pose matrix of each link of the Stewart parallel mechanism is obtained using an inverse kinematics solution and an exponential product formula. Considering the constraint relationship between joints, the constraint matrix of the Stewart parallel manipulator is deduced. In addition, the Jacobian matrix and the twist of each link are obtained. Moreover, by deriving the differential form of the constraint matrix, the spatial acceleration of each link is obtained. Based on the force balance relationship of each link, the inverse dynamics and the general form of the dynamic model of the Stewart parallel manipulator is established and the process of inverse dynamics is summarized. The dynamic model is then verified via dynamic simulation using the ADAMS software. A numerical example is considered to demonstrate the feasibility and effectiveness of this model. The proposed dynamic modeling approach serves as a fundamental basis for structural optimization and control scheme design of the Stewart parallel manipulators.

Design System and Simulation Control of the 6-DOF Parallel Manipulator

2012 ◽  
Vol 569 ◽  
pp. 674-678
Author(s):  
Rattawut Vongvit ◽  
Hai Tao Zhu
Keyword(s):  
Computer Model ◽  
Parallel Manipulator ◽  
Joint Space ◽  
Design System ◽  
Dynamics Model ◽  
Lagrangian Equation ◽  
Kinematics Model ◽  
Control Scheme ◽  
Simulation Control

In this paper presents the design system and simulation control of the 6-DOF parallel manipulator. The moveable platform supported by the six electrical cylinder. The mechanic component and kinematics model are explained, dynamics model using Lagrangian equation and computer model of Joint space control scheme using Simulink and the 6-DOF parallel manipulator systems are show in this paper.

scholarly journals Adaptive Task-Space Manipulator Control with Parametric Uncertainties in Kinematics and Dynamics

2020 ◽  
Vol 10 (24) ◽  
pp. 8806
Author(s):  
Chih-Chen Yih ◽  
Shih-Jeh Wu
Keyword(s):  
Adaptive Control ◽  
Joint Space ◽  
Design Parameters ◽  
Kinematics And Dynamics ◽  
Parametric Uncertainties ◽  
Task Space ◽  
Estimation Errors ◽  
Barbalat’S Lemma ◽  
Control Scheme ◽  
Adaptive Control Scheme

This paper aims to deal with the problem of robot tracking control in the presence of parametric uncertainties in kinematics and dynamics. We propose a simple and effective adaptive control scheme that includes adaptation laws for unknown constant kinematic and dynamic parameters. In addition, instead of convolution-type filtered differentiation, we designed a new observer to estimate velocity in the task space, and the proposed adaptive control requires no acceleration measurement in the joint space. Using the Lyapunov stability and Barbalat’s lemma, we show that by appropriately choosing design parameters, the tracking errors and estimation errors in task space can asymptotically converge to zero. Through numerical simulation on a two-link robot with a fixed camera, we illustrate the design procedures and demonstrate the feasibility of the proposed adaptive control scheme for the trajectory tracking of robot manipulators.

scholarly journals The nonlinear computed torque control of a quadrotor

2020 ◽  
Vol 20 (3) ◽  
pp. 1221
Author(s):  
Y. Meddahi ◽  
K. Zemalache Meguenni ◽  
H. Aoued
Keyword(s):  
Torque Control ◽  
Kinematics And Dynamics ◽  
Dynamics Modeling ◽  
Quadrotor Helicopter ◽  
Computed Torque Control ◽  
Paper Work ◽  
Simulation Results ◽  
Computed Torque

<p>This paper work focused on the study of the nonlinear computed torque<br />control of a quadrotor helicopter. In order to model the dynamic of the<br />vehicles, kinematics and dynamics modeling of the X4 is presented. Euler<br />angles and parameters are used in the formulation of this model and the<br />technique of Computed Torque control is introduced. In the second part of<br />the paper, we develop a methodology of control that allows the quadrotor to<br />accomplish a prospecting mission of an environment, as the follow-up of a<br />trajectory by the simulation. Results show that Computed Torque control<br />method is suitable for X4.</p>

Hybrid Constraint Space Dynamics and Control for Robot Manipulators

2004 ◽  
Vol 10 (11) ◽  
pp. 1563-1584
Author(s):  
R. Wong ◽  
D. B. Cherchas
Keyword(s):  
Coordinate System ◽  
Dynamic Model ◽  
Force Control ◽  
Joint Space ◽  
Torque Control ◽  
System Control ◽  
Dynamics Modeling ◽  
Joint Torques ◽  
Space Coordinate ◽  
Space Dynamics

In this paper we present the development of a hybrid constraint space dynamics modeling technique and position/force controller for robotic manipulator control in constrained environments. The method utilizes a constraint space dynamic model in which the model coordinates are displacement along the constraint trajectory and the normal force between the manipulator end-effector and the environment. The dynamic model is constructed by transforming the conventional joint space manipulator dynamics equations into their constraint space equivalents through the application of mapping functions, which relate differential displacements and velocities in the constraint space coordinate system to the joint space coordinate system. Control algorithms may then be applied to the simplified dynamic structure of the constraint space equations of motion in order to produce a vector of manipulator joint torques which will satisfy both position and force requirements along the environmental constraint. Actuator constraints and momentum compensating techniques are also used to ensure that the position and force control problems are completely decoupled from one another. A computer torque control algorithm is then applied to a two-degrees-of-freedom prismatic robot and simulations are carried out with two different constraint surfaces, i.e. a planar, and a concave circular environment. The results of these simulations show that the controller, implemented in hybrid constraint space provides good position and force control.

scholarly journals PD-computed torque control for an autonomous airship

2019 ◽  
Vol 8 (1) ◽  
pp. 44
Author(s):  
Y. Meddahi ◽  
K. Zemalache Meguenni
Keyword(s):  
Control Method ◽  
Torque Control ◽  
Kinematics And Dynamics ◽  
Control Law ◽  
Euler Angles ◽  
Dynamics Modeling ◽  
Computed Torque Control ◽  
Trajectory Following ◽  
Computed Torque

For the trajectory following problem of an airship, the standard computed torque control law is shown to be robust with respect to unknown dynamics by judiciously choosing the feedback gains and the estimates of the nonlinear dynamics. In the first part of this paper, kinematics and dynamics modeling of the airships is presented. Euler angles and parameters are used in the formulation of this model and the technique of Computed Torque control is introduced. In the second part of the paper, we develop a methodology of control that allows the airship to accomplish a prospecting mission of an environment, as the follow-up of a trajectory by the simulation who results show that Computed Torque control method is suitable for airships.

Adaptive computed torque control for a parallel manipulator with redundant actuation

Robotica ◽  
2011 ◽  
Vol 30 (3) ◽  
pp. 457-466 ◽  
Author(s):  
Wei-Wei Shang ◽  
Shuang Cong ◽  
Yuan Ge
Keyword(s):  
Dynamic Model ◽  
Trajectory Tracking ◽  
Parallel Manipulator ◽  
Adaptive Dynamics ◽  
Tracking Error ◽  
Torque Control ◽  
Redundant Actuation ◽  
Task Space ◽  
Barbalat’S Lemma ◽  
Computed Torque

SUMMARYAn adaptive computed torque (ACT) controller in the task space is proposed for the trajectory tracking of a parallel manipulator with redundant actuation. The dynamic model, including the active joint friction, is established in the task space for the parallel manipulator, and the linear parameterization expression with respect to the dynamic and friction parameters is formulated. On the basis of the dynamic model, a new control law, which contains adaptive dynamics compensation, friction compensation, and tracking error elimination terms, is designed. After defining the state-space model of the error system, the parameter adaptation law is derived by using the Lyapunov method, and the convergence of the tracking error and the error rate is proved by using the Barbalat's lemma. The ACT controller is implemented in the trajectory tracking experiments of an actual 2-DOF parallel manipulator with redundant actuation, and the experiment results are compared with the computed torque controller.

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