by Marina Valles, Miguel Diaz-Rodriguez, Angel Valera, Vicente Mata, Alvaro Page
Abstract:
The aim of this article is to develop, from the mechatronic point of view, a low-cost parallel manipulator (PM) with 3-degrees of freedom (DOF). The robot has to be able to generate and control one translational motion (heave) and two rotary motions (rolling and pitching). Applications for this kind of parallel manipulator can be found at least in driving-motion simulation and in the biomechanical field. An open control architecture has been developed for this manipulator, which allows implementing and testing different dynamic control schemes for a PM with 3-DOF. Thus, the robot developed can be used as a test bench where control schemes can be tested. In this article, several control schemes are proposed and the tracking control responses are compared. The schemes considered are based on passivity-based control and inverse dynamic control. The control algorithm considers point-to-point control or tracking control. When the controller considers the system dynamics, an identified model has been used. The control schemes have been tested on a virtual robot and on the actual prototype.
Reference:
Mechatronic development and dynamic control of a 3-DOF parallel manipulator (Marina Valles, Miguel Diaz-Rodriguez, Angel Valera, Vicente Mata, Alvaro Page), In Mechanics Based Design of Structures and Machines, Taylor & Francis Group, volume 40, 2012.
Bibtex Entry:
@article{valles2012,
title={Mechatronic development and dynamic control of a 3-DOF parallel manipulator},
author={Valles, Marina and Diaz-Rodriguez, Miguel and Valera, Angel and Mata, Vicente and Page, Alvaro},
journal={Mechanics Based Design of Structures and Machines},
volume={40},
number={4},
pages={434--452},
year={2012},
publisher={Taylor \& Francis Group},
url={https://www.researchgate.net/publication/233504087_Mechatronic_Development_and_Dynamic_Control_of_a_3-_DOF_Parallel_Manipulator?ev=prf_pub},
doi={10.1080/15397734.2012.687292},
gsid={https://scholar.google.com/scholar?oi=bibs&hl=es&cites=6527022246780958794},
abstract={The aim of this article is to develop, from the mechatronic point of view, a low-cost parallel manipulator (PM) with 3-degrees of freedom (DOF). The robot has to be able to generate and control one translational motion (heave) and two rotary motions (rolling and pitching). Applications for this kind of parallel manipulator can be found at least in driving-motion simulation and in the biomechanical field. An open control architecture has been developed for this manipulator, which allows implementing and testing different dynamic control schemes for a PM with 3-DOF. Thus, the robot developed can be used as a test bench where control schemes can be tested. In this article, several control schemes are proposed and the tracking control responses are compared. The schemes considered are based on passivity-based control and inverse dynamic control. The control algorithm considers point-to-point control or tracking control. When the controller considers the system dynamics, an identified model has been used. The control schemes have been tested on a virtual robot and on the actual prototype.},
keywords={Dynamics, Kinematics, Mechatronics, Parallel manipulator, Robot control},
}