Calculated Torque Control of a Planar Parallel Robot 2-RR
This paper introduces the design, structure and control method of a five-bar planar mechanism with five revolute joints and two degrees of freedom. The control is realized by calculating the torque in the joint space to obtain the required trajectory. The direct and inverse kinematics of position an...
- Autores:
-
Yime Rodríguez, Eugenio
Roldán Mckinley, Javier
Villa Ramírez, José Luis
- Tipo de recurso:
- Fecha de publicación:
- 2022
- Institución:
- Universidad Tecnológica de Bolívar
- Repositorio:
- Repositorio Institucional UTB
- Idioma:
- eng
- OAI Identifier:
- oai:repositorio.utb.edu.co:20.500.12585/12300
- Acceso en línea:
- https://hdl.handle.net/20.500.12585/12300
- Palabra clave:
- Parallel Manipulator;
Stewart Platform;
Biomechanics
LEMB
- Rights
- openAccess
- License
- http://creativecommons.org/licenses/by-nc-nd/4.0/
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Calculated Torque Control of a Planar Parallel Robot 2-RR |
| title |
Calculated Torque Control of a Planar Parallel Robot 2-RR |
| spellingShingle |
Calculated Torque Control of a Planar Parallel Robot 2-RR Parallel Manipulator; Stewart Platform; Biomechanics LEMB |
| title_short |
Calculated Torque Control of a Planar Parallel Robot 2-RR |
| title_full |
Calculated Torque Control of a Planar Parallel Robot 2-RR |
| title_fullStr |
Calculated Torque Control of a Planar Parallel Robot 2-RR |
| title_full_unstemmed |
Calculated Torque Control of a Planar Parallel Robot 2-RR |
| title_sort |
Calculated Torque Control of a Planar Parallel Robot 2-RR |
| dc.creator.fl_str_mv |
Yime Rodríguez, Eugenio Roldán Mckinley, Javier Villa Ramírez, José Luis |
| dc.contributor.author.none.fl_str_mv |
Yime Rodríguez, Eugenio Roldán Mckinley, Javier Villa Ramírez, José Luis |
| dc.subject.keywords.spa.fl_str_mv |
Parallel Manipulator; Stewart Platform; Biomechanics |
| topic |
Parallel Manipulator; Stewart Platform; Biomechanics LEMB |
| dc.subject.armarc.none.fl_str_mv |
LEMB |
| description |
This paper introduces the design, structure and control method of a five-bar planar mechanism with five revolute joints and two degrees of freedom. The control is realized by calculating the torque in the joint space to obtain the required trajectory. The direct and inverse kinematics of position and velocity are proposed, and the inverse kinematics of acceleration is taken as the parameter required by the control law. The method selected for this parallel robot is advantageous because it allows to obtain the dynamic equations similar to the traditional series robot modeling, which is helpful to the realization of nonlinear control technology. The effectiveness of the method and the functionality of the controller are verified by experiments, and a circular trajectory is generated by the actuator. Although the simulation results are consistent with the experimental results, it is suggested that the future work is to change the control strategy to compensate for the influence of the unmodeled system. © 2022 by author(s) and Frontier Scientific Publishing. |
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2022 |
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2022 |
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2023-07-21T15:54:31Z |
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2023-07-21T15:54:31Z |
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2023 |
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Yime Rodríguez, E., Roldán Mckinley, J., & Villa Ramírez, J. (2021). Calculated torque control of a planar parallel robot 2-RR. Journal of Au-tonomous Intelligence, 5(1), 72-84. |
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https://hdl.handle.net/20.500.12585/12300 |
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10.32629/jai.v5i1.508 |
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Universidad Tecnológica de Bolívar |
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Repositorio Universidad Tecnológica de Bolívar |
| identifier_str_mv |
Yime Rodríguez, E., Roldán Mckinley, J., & Villa Ramírez, J. (2021). Calculated torque control of a planar parallel robot 2-RR. Journal of Au-tonomous Intelligence, 5(1), 72-84. 10.32629/jai.v5i1.508 Universidad Tecnológica de Bolívar Repositorio Universidad Tecnológica de Bolívar |
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https://hdl.handle.net/20.500.12585/12300 |
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eng |
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eng |
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Attribution-NonCommercial-NoDerivatives 4.0 Internacional |
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openAccess |
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13 páginas |
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Cartagena de Indias |
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Universidad Tecnológica de Bolívar |
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Yime Rodríguez, Eugenio5663368e-cdbe-463f-b65c-fd7dd7e0daaeRoldán Mckinley, Javier3e9f90fe-ca03-42ee-bed3-2b3151273759Villa Ramírez, José Luis1cbdf846-c866-4ecc-8002-ac0fb938d37b2023-07-21T15:54:31Z2023-07-21T15:54:31Z20222023Yime Rodríguez, E., Roldán Mckinley, J., & Villa Ramírez, J. (2021). Calculated torque control of a planar parallel robot 2-RR. Journal of Au-tonomous Intelligence, 5(1), 72-84.https://hdl.handle.net/20.500.12585/1230010.32629/jai.v5i1.508Universidad Tecnológica de BolívarRepositorio Universidad Tecnológica de BolívarThis paper introduces the design, structure and control method of a five-bar planar mechanism with five revolute joints and two degrees of freedom. The control is realized by calculating the torque in the joint space to obtain the required trajectory. The direct and inverse kinematics of position and velocity are proposed, and the inverse kinematics of acceleration is taken as the parameter required by the control law. The method selected for this parallel robot is advantageous because it allows to obtain the dynamic equations similar to the traditional series robot modeling, which is helpful to the realization of nonlinear control technology. The effectiveness of the method and the functionality of the controller are verified by experiments, and a circular trajectory is generated by the actuator. Although the simulation results are consistent with the experimental results, it is suggested that the future work is to change the control strategy to compensate for the influence of the unmodeled system. © 2022 by author(s) and Frontier Scientific Publishing.13 páginasapplication/pdfenghttp://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccessAttribution-NonCommercial-NoDerivatives 4.0 Internacionalhttp://purl.org/coar/access_right/c_abf2Journal of Au-tonomous Intelligence, 5(1)Calculated Torque Control of a Planar Parallel Robot 2-RRinfo:eu-repo/semantics/articleinfo:eu-repo/semantics/drafthttp://purl.org/coar/resource_type/c_6501http://purl.org/coar/version/c_b1a7d7d4d402bccehttp://purl.org/coar/resource_type/c_2df8fbb1Parallel Manipulator;Stewart Platform;BiomechanicsLEMBCartagena de IndiasVinogradov, O. Fundamentals of kinematics and dynamics of machines and mechanisms (2000) Fundamentals of Kinematics and Dynamics of Machines and Mechanisms, pp. 1-291. Cited 41 times. https://www.taylorfrancis.com/books/e/9781420042337 ISBN: 978-142004233-7; 0849302579; 978-084930257-2Uicker, J, Pennock, G, Shigley, J. (2010) Theory of machines and mechanisms. Cited 692 times. U.S.A: Oxford University PressNorton, R. (2011) Design of machinery: An introduction to the synthesis and analysis of mechanisms and machines. Cited 733 times. New York: McGraw-HillStanisic, M. (2014) Mechanisms and machines: Kinematics, dynamics and synthesis. Cited 15 times. U.S.A: Cengage LearningSeth, B., Vaddi, S.S. Programmable function generators - I: Base five-bar mechanism (2003) Mechanism and Machine Theory, 38 (4), pp. 321-330. Cited 13 times. doi: 10.1016/S0094-114X(02)00121-0Zhou, H., Ting, K.-L. Path generation with singularity avoidance for five-bar slider-crank parallel manipulators (2005) Mechanism and Machine Theory, 40 (3), pp. 371-384. Cited 39 times. doi: 10.1016/j.mechmachtheory.2004.07.007Kim, J.Y. Task based kinematic design of a two DOF manipulator with a parallelogram five-bar link mechanism (2006) Mechatronics, 16 (6), pp. 323-329. Cited 24 times. doi: 10.1016/j.mechatronics.2006.01.004Ouyang, P.R., Li, Q., Zhang, W.J., Guo, L.S. Design, modeling and control of a hybrid machine system (2004) Mechatronics, 14 (10), pp. 1197-1217. Cited 68 times. doi: 10.1016/j.mechatronics.2004.06.004Nahavandi, S., Jashim Uddin, M., Saadat, M., Trinh, H. Heavy tools manipulation by low powered direct-drive five-bar parallel robot (2008) Mechanism and Machine Theory, 43 (11), pp. 1450-1461. Cited 10 times. doi: 10.1016/j.mechmachtheory.2007.11.004Giberti, H., Cinquemani, S., Ambrosetti, S. 5R 2dof parallel kinematic manipulator - A multidisciplinary test case in mechatronics (2013) Mechatronics, 23 (8), pp. 949-959. Cited 31 times. https://www.journals.elsevier.com/mechatronics doi: 10.1016/j.mechatronics.2012.09.006Krebs, H.I., Ferraro, M., Buerger, S.P., Newbery, M.J., Makiyama, A., Sandmann, M., Lynch, D., (...), Hogan, N. Rehabilitation robotics: Pilot trial of a spatial extension for MIT-Manus (2004) Journal of NeuroEngineering and Rehabilitation, 1, art. no. 5. Cited 342 times. http://www.jneuroengrehab.com/content/1/1/5 doi: 10.1186/1743-0003-1-5Villarreal-Cervantes, M.G., Cruz-Villar, C.A., Alvarez-Gallegos, J., Portilla-Flores, E.A. Differential evolution techniques for the structure-control design of a five-bar parallel robot (2010) Engineering Optimization, 42 (6), pp. 535-565. Cited 24 times. doi: 10.1080/03052150903325557Joubair, A., Slamani, M., Bonev, I.A. Kinematic calibration of a five-bar planar parallel robot using all working modes (Open Access) (2013) Robotics and Computer-Integrated Manufacturing, 29 (4), pp. 15-25. Cited 74 times. doi: 10.1016/j.rcim.2012.10.002(2014) Two DOF robot [Online]. [Cited 2015 Ju-ly 7] http://www.quanser.com/Products/2dof_robotFigielski, A., Bonev, I.A., Bigras, P. Towards development of a 2-DOF planar parallel robot with optimal workspace use (2007) Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics, art. no. 4413840, pp. 1562-1566. Cited 20 times. ISBN: 1424409918; 978-142440991-4 doi: 10.1109/ICSMC.2007.4413840Campos, L., Bourbonnais, F., Bonev, I.A., Bigras, P. Development of a five-bar parallel robot with large workspace (2010) Proceedings of the ASME Design Engineering Technical Conference, 2 (PARTS A AND B), pp. 917-922. Cited 58 times. ISBN: 978-079184410-6 doi: 10.1115/DETC2010-28962Bourbonnais, F., Bigras, P., Bonev, I.A. Minimum-time trajectory planning and control of a pick-and-place five-bar parallel robot (2015) IEEE/ASME Transactions on Mechatronics, 20 (2), art. no. 6813658, pp. 740-749. Cited 102 times. doi: 10.1109/TMECH.2014.2318999Wu, F.X., Zhang, W.J., Li, Q., Ouyang, P.R., Zhou, Z.X. Control of Hybrid Machines with 2-DOF for Trajectory Tracking Problems (Open Access) (2005) IEEE Transactions on Control Systems Technology, 13 (2), pp. 338-342. Cited 13 times. doi: 10.1109/TCST.2004.839580Cheng, L., Lin, Y., Hou, Z.-G., Tan, M., Huang, J., Zhang, W.J. Adaptive tracking control of hybrid machines: A closed-chain five-bar mechanism case (2011) IEEE/ASME Transactions on Mechatronics, 16 (6), art. no. 5625912, pp. 1155-1163. Cited 47 times. doi: 10.1109/TMECH.2010.2083680Cheng, L., Hou, Z.-G., Tan, M., Zhang, W.J. Tracking control of a closed-chain five-bar robot with two degrees of freedom by integration of an approximation-based approach and mechanical design (2012) IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, 42 (5), art. no. 6186836, pp. 1470-1479. Cited 75 times. doi: 10.1109/TSMCB.2012.2192270Zi, B., Cao, J., Zhu, Z. Dynamic simulation of hybrid-driven planar five-bar parallel mechanism based on simmechanics and tracking control (2011) International Journal of Advanced Robotic Systems, 8 (4), pp. 28-33. Cited 34 times. http://www.intechopen.com/source/pdfs/19920/InTech-Dynamic-simulation-of-hybrid-driven-planar-five-bar-parallel-mechanism-based-on-simmechanics-and-tracking-control.pdf doi: 10.5772/45683Yu, H. Modeling and control of hybrid machine sys-tems—A five-bar mechanism case (2006) International Journal of Automation and Computing, 3 (3), pp. 235-243. Cited 37 times.Peidró, A, Gil, A, Marín, JM A web-based tool to analyze the kinematics and singularities of parallel robots (2015) Journal of Intelligent & Robotic Systems, 81 (1), pp. 145-163. Cited 13 times.Karande, S, Paluri, N, Gandhi, P Control of parallel flexible five-bar manipulator using QFT (2009) IEEE International Conference on Industrial Technology; Feb; Gippsland. IEEE International; 2009Stacella, K, Schreiber, F, Schumacher, W. Modeling, con-trol, and evaluation of an experimental adaptronic five-bar robot (2001) Robotic systems for handling and assembly, pp. 125-142. Schutz D, Wahl F (editors). Berlin: Springer Tracts in Advanced RoboticsYime, E., Saltaren, R., Diaz, J. Robust adaptive control of the Stewart-Gough robot in the task space (2010) Proceedings of the 2010 American Control Conference, ACC 2010, art. no. 5530463, pp. 5248-5253. Cited 15 times. ISBN: 978-142447426-4 doi: 10.1109/acc.2010.5530463Yime, E., Saltaren, R., Garcia, C., Sabater, J.M. Robot based on task-space dynamical model (Open Access) (2011) IET Control Theory and Applications, 5 (18), pp. 2111-2119. Cited 8 times. doi: 10.1049/iet-cta.2010.0622Slotine, JJE, Li, WP. (1991) Applied nonlinear control. Cited 16727 times. U.S.A: Prentice HallSiciliano, B., Khatib, O. Springer handbook of robotics (2016) Springer Handbook of Robotics, pp. 1-2227. Cited 1574 times. http://dx.doi.org/10.1007/978-3-319-32552-1 ISBN: 978-331932552-1; 978-331932550-7 doi: 10.1007/978-3-319-32552-1(2016) Real time kernel: Linux community distribution [Online]. [Cited 2016 Jun 28] http://debian.pengutronix.de/Fu, L, Schwebel, R. (2014) RT-preempt patch [Online] [Cited 2016 Jun 28] https://rt.wiki.kernel.org/index.php/RTPREEMPTHOWTOhttp://purl.org/coar/resource_type/c_6501ORIGINALdocument (1).pdfdocument (1).pdfapplication/pdf832070https://repositorio.utb.edu.co/bitstream/20.500.12585/12300/1/document%20%281%29.pdf3fd2dc4396aca836be61471d456fe4d2MD51CC-LICENSElicense_rdflicense_rdfapplication/rdf+xml; charset=utf-8805https://repositorio.utb.edu.co/bitstream/20.500.12585/12300/2/license_rdf4460e5956bc1d1639be9ae6146a50347MD52LICENSElicense.txtlicense.txttext/plain; charset=utf-83182https://repositorio.utb.edu.co/bitstream/20.500.12585/12300/3/license.txte20ad307a1c5f3f25af9304a7a7c86b6MD53TEXTdocument (1).pdf.txtdocument (1).pdf.txtExtracted texttext/plain36136https://repositorio.utb.edu.co/bitstream/20.500.12585/12300/4/document%20%281%29.pdf.txtafeb7fd043bfb7dd50b9fe4cba1b782cMD54THUMBNAILdocument (1).pdf.jpgdocument (1).pdf.jpgGenerated 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