A Survey on Control of Parallel Manipulator

2007 ◽  
Vol 339 ◽  
pp. 307-313 ◽  
Author(s):  
J.F. He ◽  
H.Z. Jiang ◽  
D.C. Cong ◽  
Zheng Mao Ye ◽  
Jun Wei Han
Keyword(s):  
Control Strategies ◽  
Parallel Manipulators ◽  
Physical Structure ◽  
Extensive Study ◽  
Torque Control ◽  
Serial Manipulators ◽  
Advanced Control ◽  
And Performance ◽  
Computed Torque ◽  
Structure Properties

Based on extensive study on literatures of control of parallel manipulators and serial manipulators, control strategies such as computed torque control, PD+ control, PD with feedforward compensation, nonlinear adaptive control are classified into two categories: model-based control and performance-based control. Besides, as advanced control strategies, robust control and passivity-based control for the parallel manipulators are also introduced. Comparative study in view of computation burden and tracking performance are performed. It turned out that the physical structure properties of parallel manipulators’ dynamics are similar with that of serial ones, and this constitutes a common foundation for the two kinds of manipulators to develop together that control design of parallel manipulators can start with ever established control methods of serial manipulators.

Model-based joint and task space control strategies for a kinematically redundant parallel manipulator

Robotica ◽  
2021 ◽  
pp. 1-17
Author(s):  
João Vitor de Carvalho Fontes ◽  
Fernanda Thaís Colombo ◽  
Natássya Barlate Floro da Silva ◽  
Maíra Martins da Silva
Keyword(s):  
Parallel Manipulator ◽  
Control Strategies ◽  
Parallel Manipulators ◽  
Torque Control ◽  
Redundancy Resolution ◽  
Task Space ◽  
Kinematic Redundancy ◽  
Model Based ◽  
The Impact ◽  
Computed Torque

Abstract One alternative to overcome the presence of singularities within Parallel Manipulators’ workspace is kinematic redundancy. This design alternative can be realized by adding an extra active joint to a kinematic chain. Due to this addition, the IKM presents an infinite number of solutions requiring a redundancy resolution scheme. Moreover, Parallel Manipulators’ control may require complex strategies due to their coupled and complex dynamic and kinematic relations. In this work, a model-free, a joint space computed torque, and a hybrid joint-task-space computed torque control strategies are experimentally compared for a kinematically redundant parallel manipulator. The latter is a novel strategy that requires the measurement of the end-effector’s pose, which is performed by an eye-to-hand limited frame rate camera. The impact of up to three kinematic redundancy levels is also experimentally evaluated using prepositioning and ongoing positioning redundancy resolution schemes. The data are assessed by evaluating a prescribed trajectory executed using a planar kinematically redundant parallel manipulator. These results indicate that kinematic redundancy can not only be used as an alternative design for reducing the presence of singular regions, as claimed in the literature, but also be used along with model-based control strategies for improving dynamic performance and accuracy of parallel manipulators.

DYNAMICS AND IMPROVED COMPUTED TORQUE CONTROL OF A NOVEL MEDICAL PARALLEL MANIPULATOR: APPLIED TO CHEST COMPRESSIONS TO ASSIST IN CARDIOPULMONARY RESUSCITATION

2015 ◽  
Vol 15 (04) ◽  
pp. 1550051 ◽  
Author(s):  
MOHSEN ASGARI ◽  
MAHDI A. ARDESTANI
Keyword(s):  
Cardiopulmonary Resuscitation ◽  
Fuzzy Inference ◽  
Virtual Work ◽  
Parallel Manipulators ◽  
Torque Control ◽  
Chest Compressions ◽  
Inverse Dynamic ◽  
Inference System ◽  
Novel Structure ◽  
Computed Torque

In cardiopulmonary resuscitation (CPR), in practice, the rescuer usually uses two hands to perform the action of chest compressions. During chest compressions action, the two arms of the rescuer actually constitute a parallel mechanism. Inspired by this performance, this paper presents a novel structure of parallel manipulators from Delta robot family for chest compressions in rescuing a patient. Also, two new control methodologies are applied to track the desired trajectory. Based on one supervisory approach and another one based upon adaptive neuro-fuzzy inference system (ANFIS) approach. Inverse dynamic modeling is performed based on principle of virtual work and the results are verified using MSC.Adams© software. The proportional derivative (PD) controllers of computed torque (C-T) method usually need manual retuning to make a successful task, particularly in the presence of disturbance. In the present paper, we study and compare the feasibility of applying supervisory controller and ANFIS instead of conventional controller used in C-T method to cope with the above mentioned problem. Several computer simulations imply that the proposed method is encouraging compared with C-T method implemented with conventional controller.

A Systematic Model for Dynamics and Control of Dual Clutch Transmissions

2009 ◽  
Vol 131 (6) ◽  
Author(s):  
Yonggang Liu ◽  
Datong Qin ◽  
Hong Jiang ◽  
Yi Zhang
Keyword(s):  
Dynamic Characteristics ◽  
Performance Metrics ◽  
Control Strategies ◽  
Torque Control ◽  
Dual Clutch Transmission ◽  
Test Vehicle ◽  
Modeling And Analysis ◽  
Dynamics And Control ◽  
And Performance ◽  
And Shifts

This paper focuses on the dynamic modeling and analysis of dry dual clutch transmissions (DCTs) during vehicle launch and shifts. The system model incorporates the clutch torque control strategies for DCT vehicle launch and shifts. This model is capable of quantitatively analyzing and predicting dual clutch transmission dynamic characteristics and performance metrics, such as launch response and shift patterns, thus providing an analytical tool for DCT torque control and calibration. The model is applied for a test vehicle equipped with a dry dual clutch transmission. The simulation data on vehicle launch and shift dynamic characteristics are highly agreeable to the data obtained on the test vehicle.

scholarly journals Advanced Control Strategies of Induction Machine: Field Oriented Control, Direct Torque Control and Model Predictive Control

Energies ◽  
2018 ◽  
Vol 11 (1) ◽  
pp. 120 ◽  
Author(s):  
Fengxiang Wang ◽  
Zhenbin Zhang ◽  
Xuezhu Mei ◽  
José Rodríguez ◽  
Ralph Kennel
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Control Strategies ◽  
Direct Torque Control ◽  
Induction Machine ◽  
Torque Control ◽  
Field Oriented Control ◽  
Advanced Control

scholarly journals Robust Computed Torque Control for Uncertain Robotic Manipulatorss

2021 ◽  
Vol 17 (3) ◽  
pp. 22-28
Author(s):  
Maryam Sadeq Ahmed ◽  
Ali Hussien M Mary ◽  
Hisham Hassan Jasim
Keyword(s):  
Control Systems ◽  
Control Method ◽  
External Disturbance ◽  
Torque Control ◽  
Robotic Control ◽  
System Uncertainty ◽  
Computed Torque Control ◽  
And Performance ◽  
The Stability ◽  
Computed Torque

This paper presents a robust control method for the trajectory control of the robotic manipulator. The standard Computed Torque Control (CTC) is an important method in the robotic control systems but its not robust to system uncertainty and external disturbance. The proposed method overcome the system uncertainty and external disturbance problems. In this paper, a robustification term has been added to the standard CTC. The stability of the proposed control method is approved by the Lyapunov stability theorem.  The performance of the presented controller is tested by MATLAB-Simulink environment and is compared with different control methods to illustrate its robustness and performance.

scholarly journals A Novel Dual Quaternion Based Cost Effcient Recursive Newton-Euler Inverse Dynamics Algorithm

2019 ◽  
Vol 1 (2) ◽  
pp. 144-168
Author(s):  
Cristiana Miranda de Farias
Keyword(s):  
Feedback Linearization ◽  
Inverse Dynamics ◽  
Joint Space ◽  
Linearization Method ◽  
Torque Control ◽  
Dual Quaternion ◽  
Serial Manipulators ◽  
Dual Quaternions ◽  
Forward Kinematic ◽  
Computed Torque

In this paper, the well known recursive Newton-Euler inverse dynamics algorithm for serial manipulators is reformulated into the context of the algebra of Dual Quaternions. Here we structure the forward kinematic description with screws and line displacements rather than the well established Denavit-Hartemberg parameters, thus accounting better efficiency, compactness and simpler dynamical models. We also present here the closed solution for the dqRNEA, and to do so we formalize some of the algebra for dual quaternion-vectors and dual quaternion-matrices. With a closed formulation of the dqRNEA we also create a dual quaternion based formulation for the computed torque control, a feedback linearization method for controlling a serial manipulator's torques in the joint space. Finally, a cost analysis of the main Dual Quaternions operations and of the Newton-Euler inverse dynamics algorithm as a whole is made and compared with other results in the literature.

scholarly journals DSP-HIL Comparison between IM Drive Control Strategies

Electronics ◽  
2021 ◽  
Vol 10 (8) ◽  
pp. 921
Author(s):  
Luis E. Ortega-García ◽  
Daniela Rodriguez-Sotelo ◽  
Jose C. Nuñez-Perez ◽  
Yuma Sandoval-Ibarra ◽  
Francisco J. Perez-Pinal
Keyword(s):  
Control Strategies ◽  
Dynamic Performance ◽  
Torque Control ◽  
Hardware In The Loop ◽  
Control Techniques ◽  
Drive Control ◽  
Traditional Structure ◽  
Three Phase ◽  
Advanced Control ◽  
Flux Response

Due to their high robustness and simple maintenance, induction motors (IM) are commonly applied in household appliances and industry. Recently, advanced control techniques are being applied to traditional controllers such as field-oriented control (FOC) and torque control (DTC). Dynamic performance improvement, hardware simplification and software resource reduction are some of the characteristics reported by these advanced techniques, where a comparison of the new proposal with a traditional structure is generally reported for its validation. However, an assessment between advanced techniques is usually missing. Therefore, we evaluated the traditional FOC and DTC with two additional advanced control modifications, fuzzy and predictive. The resulting six structures were numerically evaluated using MATLAB SIMULINK in a 5 HP four-pole three-phase IM and practically validated using hardware-in-the-loop (Typhoon HIL 402 and DSP TMS320F28035). Speed, torque, phase current and flux response are reported for the six controllers and practical insights are summarized.

Trace nanoanalysis

1994 ◽  
Vol 52 ◽  
pp. 940-941
Author(s):  
D. E. Newbury ◽  
R. D. Leapman
Keyword(s):  
High Performance ◽  
Secondary Ion Mass Spectrometry ◽  
Detection Efficiency ◽  
Volume Element ◽  
And Performance ◽  
Trace Constituents ◽  
Secondary Ion ◽  
Concentration Levels ◽  
Structure Properties

Trace constituents, which can be very loosely defined as those present at concentration levels below 1 percent, often exert influence on structure, properties, and performance far greater than what might be estimated from their proportion alone. Defining the role of trace constituents in the microstructure, or indeed even determining their location, makes great demands on the available array of microanalytical tools. These demands become increasingly more challenging as the dimensions of the volume element to be probed become smaller. For example, a cubic volume element of silicon with an edge dimension of 1 micrometer contains approximately 5×1010 atoms. High performance secondary ion mass spectrometry (SIMS) can be used to measure trace constituents to levels of hundreds of parts per billion from such a volume element (e. g., detection of at least 100 atoms to give 10% reproducibility with an overall detection efficiency of 1%, considering ionization, transmission, and counting).

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