Robot based on task-space dynamical model
This study deals with the dynamic modelling and task space control of the Stewart-Gough platform. The dynamic equations were obtained using the virtual work approach, and include all the 13 presented in the platform, that is, two bodies per each leg and the upper ring. The results show some similari...
- Autores:
- Tipo de recurso:
- Fecha de publicación:
- 2011
- Institución:
- Universidad Tecnológica de Bolívar
- Repositorio:
- Repositorio Institucional UTB
- Idioma:
- eng
- OAI Identifier:
- oai:repositorio.utb.edu.co:20.500.12585/9104
- Acceso en línea:
- https://hdl.handle.net/20.500.12585/9104
- Palabra clave:
- Adaptive control law
Dynamic equations
Dynamic modelling
Dynamical equation
Dynamical model
Parallel platforms
Parallel robots
Serial robots
Stewart-Gough platform
Task-space control
Virtual works
Control theory
Robots
- Rights
- restrictedAccess
- License
- http://creativecommons.org/licenses/by-nc-nd/4.0/
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Robot based on task-space dynamical model |
| title |
Robot based on task-space dynamical model |
| spellingShingle |
Robot based on task-space dynamical model Adaptive control law Dynamic equations Dynamic modelling Dynamical equation Dynamical model Parallel platforms Parallel robots Serial robots Stewart-Gough platform Task-space control Virtual works Control theory Robots |
| title_short |
Robot based on task-space dynamical model |
| title_full |
Robot based on task-space dynamical model |
| title_fullStr |
Robot based on task-space dynamical model |
| title_full_unstemmed |
Robot based on task-space dynamical model |
| title_sort |
Robot based on task-space dynamical model |
| dc.subject.keywords.none.fl_str_mv |
Adaptive control law Dynamic equations Dynamic modelling Dynamical equation Dynamical model Parallel platforms Parallel robots Serial robots Stewart-Gough platform Task-space control Virtual works Control theory Robots |
| topic |
Adaptive control law Dynamic equations Dynamic modelling Dynamical equation Dynamical model Parallel platforms Parallel robots Serial robots Stewart-Gough platform Task-space control Virtual works Control theory Robots |
| description |
This study deals with the dynamic modelling and task space control of the Stewart-Gough platform. The dynamic equations were obtained using the virtual work approach, and include all the 13 presented in the platform, that is, two bodies per each leg and the upper ring. The results show some similarities in the dynamic model of serial and parallel robots, making it possible to extend the control theory of serial robot to the Stewart-Gough platform. To show this, an adaptive control law is proposed to control the parallel platform. The law is obtained from the dynamical equation and its performance is tested using a sinusoidal path for position and orientation of the upper ring of parallel robot. Some additional simulations are carried out to demonstrate a well-behaved controller. © 2011 The Institution of Engineering and Technology. |
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2011 |
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2011 |
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2020-03-26T16:32:57Z |
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2020-03-26T16:32:57Z |
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http://purl.org/coar/version/c_970fb48d4fbd8a85 |
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http://purl.org/coar/resource_type/c_2df8fbb1 |
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info:eu-repo/semantics/article |
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Artículo |
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publishedVersion |
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IET Control Theory and Applications; Vol. 5, Núm. 18; pp. 2111-2119 |
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17518644 |
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https://hdl.handle.net/20.500.12585/9104 |
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10.1049/iet-cta.2010.0622 |
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Universidad Tecnológica de Bolívar |
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Repositorio UTB |
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22837432800 6506558366 7401486209 7005856468 |
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IET Control Theory and Applications; Vol. 5, Núm. 18; pp. 2111-2119 17518644 10.1049/iet-cta.2010.0622 Universidad Tecnológica de Bolívar Repositorio UTB 22837432800 6506558366 7401486209 7005856468 |
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https://hdl.handle.net/20.500.12585/9104 |
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eng |
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eng |
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info:eu-repo/semantics/restrictedAccess |
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Atribución-NoComercial 4.0 Internacional |
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http://creativecommons.org/licenses/by-nc-nd/4.0/ Atribución-NoComercial 4.0 Internacional http://purl.org/coar/access_right/c_16ec |
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Recurso electrónico |
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application/pdf |
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2020-03-26T16:32:57Z2020-03-26T16:32:57Z2011IET Control Theory and Applications; Vol. 5, Núm. 18; pp. 2111-211917518644https://hdl.handle.net/20.500.12585/910410.1049/iet-cta.2010.0622Universidad Tecnológica de BolívarRepositorio UTB22837432800650655836674014862097005856468This study deals with the dynamic modelling and task space control of the Stewart-Gough platform. The dynamic equations were obtained using the virtual work approach, and include all the 13 presented in the platform, that is, two bodies per each leg and the upper ring. The results show some similarities in the dynamic model of serial and parallel robots, making it possible to extend the control theory of serial robot to the Stewart-Gough platform. To show this, an adaptive control law is proposed to control the parallel platform. The law is obtained from the dynamical equation and its performance is tested using a sinusoidal path for position and orientation of the upper ring of parallel robot. Some additional simulations are carried out to demonstrate a well-behaved controller. © 2011 The Institution of Engineering and Technology.Recurso electrónicoapplication/pdfenghttp://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/restrictedAccessAtribución-NoComercial 4.0 Internacionalhttp://purl.org/coar/access_right/c_16echttps://www.scopus.com/inward/record.uri?eid=2-s2.0-81855169718&doi=10.1049%2fiet-cta.2010.0622&partnerID=40&md5=eeff7ee060ee206f3c4d025a8b142161Robot based on task-space dynamical modelinfo:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionArtículohttp://purl.org/coar/version/c_970fb48d4fbd8a85http://purl.org/coar/resource_type/c_2df8fbb1Adaptive control lawDynamic equationsDynamic modellingDynamical equationDynamical modelParallel platformsParallel robotsSerial robotsStewart-Gough platformTask-space controlVirtual worksControl theoryRobotsYime E.Saltaren R.Garcia C.Sabater J.M.Dasgupta, B., Mruthyunjaya, T.S., The stewart platform manipulator: A review (2000) Mech. Mach. Theory, 35 (1), pp. 15-40. , 10.1016/S0094-114X(99)00006-3 0094-114XKang, J.-Y., Kim, D., Lee, K.-I., Robust tracking control of Stewart platform (1996) Proc. 35th IEEE Decision and Control, pp. 3014-3019Ting Yung, Chen Yu-Shin, Wang Shih-Ming, Task-space control algorithm for Stewart platform (1999) Proceedings of the IEEE Conference on Decision and Control, 4, pp. 3857-3862Kim, N.-I., Lee, C.-W., High speed tracking control of Stewart platform manipulator via enhanced sliding mode control (1998) Proc. 1998 IEEE Int. Conf. on Robotics and Automation, pp. 2716-2721Lee, S.-H., Song, J.-B., Choi, W.-C., Hong, D., Controller design for a Stewart platform using small workspace characteristics (2001) IEEE International Conference on Intelligent Robots and Systems, 4, pp. 2184-2189Sirouspour, M.R., Salcudean, S.E., Nonlinear control of a hydraulic parallel manipulator (2001) Proceedings - IEEE International Conference on Robotics and Automation, 4, pp. 3760-3765Harib, K., Srinivasan, K., Kinematic and dynamic analysis of stewart platform-based machine tool structures (2003) Robotica, 21 (5), pp. 541-554. , 10.1017/S0263574703005046 0263-5747Ting, Y., Chen, Y.-S., Jar, H.-C., Modeling and control for a Gough-Stewart platform cnc machine (2004) J. Robot. Syst., 21 (11), pp. 609-623. , 10.1002/rob.20039 0741-2223Garagic, D., Srinivasan, K., Contouring control of Stewart platform based machine tools (2004) Proc. 2004 American Control Conf., pp. 3831-3838Huang, C.-I., Fu, L.-C., Adaptive backstepping tracking control of the Stewart platform (2004) Proceedings of the IEEE Conference on Decision and Control, 5, pp. 5228-5233. , FrC05.6, 2004 43rd IEEE Conference on Decision and Control (CDC)Lee, S.-H., Song, J.-B., Choi, W.-C., Hong, D., Position control of a Stewart platform using inverse dynamics control with approximate dynamics (2006) Mechatronics, 13 (6), pp. 605-619. , 10.1016/S0957-4158(02)00033-8 0957-4158Ghobakhloo, A., Eghtesad, M., Azadi, M., Adaptive-robuts control of the Stewart-Gough platform as a six dof parallel robot (2006) Proc. World Automation Congress (WAC) 2006, pp. 1-6Ghobakhloo, A., Eghtesad, M., Azadi, M., Position control of a Stewart-Gough platform using inverse dynamics method with full dynamics (2006) International Workshop on Advanced Motion Control, AMC, 2006, pp. 50-55. , DOI 10.1109/AMC.2006.1631631, 1631631, 9th IEEE International Workshop on Advanced Motion Control, 2006Wang, J., Wu, J., Wang, L., Li, T., Simplified strategy of the dynamic model of a 6-UPS parallel kinematic machine for real-time control (2007) Mechanism and Machine Theory, 42 (9), pp. 1119-1140. , DOI 10.1016/j.mechmachtheory.2006.09.004, PII S0094114X06001868Iqbal, S., Bhatti, A.I., Robust sliding-mode controller design for a Stewart platform (2007) Proc. Int. Bhurban Conf. on Applied Sciences and Technology, pp. 155-160Davliakosa, I., Papadopoulos, E., Model-based control of a 6-dof electrohydraulic Stewartgough platform Mech. Mach. Theory, 43 (11), pp. 1385-1400. , 10.1016/j.mechmachtheory.2007.12.002 0094-114XAlvarez, C., Saltaren, R., Aracil, R., Garcia, C., Concepcin, desarrollo y avances en el control y navegacin de robots submarinos paralelos: El robot remo-i (2009) Rev. Iberoamericana Autom. Inf. Ind., 6, pp. 92-100Tsai, L.W., Solving the inverse dynamics of a Stewart-Gough manipulator by the principle of virtual work (2000) ASME J. Mech. Des., 122 (1), pp. 3-9. , 10.1115/1.533540Yime, E., Saltaren, R., (2008) Forward and Inverse Dynamic Model of the Stewart-Gough Robot, , September, Internal Report at Universidad Politecnica de MadridYuan Joseph, S.-C., Closed-loop manipulator control using quaternion feedback (1988) IEEE journal of robotics and automation, 4 (4), pp. 434-440. , DOI 10.1109/56.809Caccavale, F., Natale, C., Siciliano, B., Villani, L., Resolved-acceleration control of robot manipulators: A critical review with experiments (1998) Robotica, 16 (5), pp. 565-573Xian, B., De Queiroz, M., Dawson, D., Walker, I., Task-space tracking control of robot manipulators via quaternion feedback (2004) IEEE Trans. Robot. Autom., 20 (1), pp. 160-167. , 10.1109/TRA.2003.820932 1042-296XNakanishi, J., Cory, R., Mistry, M., Peters, J., Schaal, S., Operational space control: A theorical and emperical comparison (2008) Int. J. Robot. Res., 27 (6), pp. 737-757. , 10.1177/0278364908091463 0278-3649Li, W., Slotine, J., Parameter estimation strategies for robotic applications (1987) ASME Winter Annual MeetingLewis, F.L., Dawson, D.M., Abdallah, C.T., (2003) Robot Manipulator Control: Theory and Practice, , (CRC Press)http://purl.org/coar/resource_type/c_6501THUMBNAILMiniProdInv.pngMiniProdInv.pngimage/png23941https://repositorio.utb.edu.co/bitstream/20.500.12585/9104/1/MiniProdInv.png0cb0f101a8d16897fb46fc914d3d7043MD5120.500.12585/9104oai:repositorio.utb.edu.co:20.500.12585/91042021-02-02 15:28:34.113Repositorio Institucional UTBrepositorioutb@utb.edu.co |