Redundant sensor based control of the 3RRR parallel robot

被引：20
作者：
Zubizarreta, Asier [1 ]
Marcos, Marga [1 ]
Cabanes, Itziar [1 ]
Pinto, Charles [2 ]
Portillo, Eva [1 ]
机构：
[1] Univ Basque Country, Automat & Syst Engn Dept, Bilbao 48013, Spain
[2] Univ Basque Country, Dept Mech Engn, Bilbao 48013, Spain
来源：
MECHANISM AND MACHINE THEORY | 2012年 / 54卷
关键词：
Parallel manipulator; Dynamics model; Model-based control; Redundant data; 3RRR parallel robot; DYNAMIC ACCURACY; MECHANISMS; MANIPULATOR; SIMULATION; INVERSE;
D O I：
10.1016/j.mechmachtheory.2012.03.004
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
In this paper, a control approach to increase the accuracy and precision of a 3RRR parallel robot based on the use of extra sensors in the passive joints is proposed. For that purpose, a redundant dynamic modelling approach and a control scheme based on the redundant data is presented in this paper. The proposed approach, the Extended CTC, introduces redundant data directly in the controller by means of a proper dynamic model, providing better dynamic performance than classical approaches in presence of model parameter uncertainties. The effectiveness of the control law is demonstrated using two approaches. Initially, a sensitivity based analysis is performed in order to analyze the relative robustness of the proposed approach. Secondly, results are validated by a set of simulation experiments in the 3RRR parallel robot in presence of randomly introduced model parameter uncertainties. (C) 2012 Elsevier Ltd. All rights reserved.
引用
收藏
页码：1 / 17
页数：17
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