Virtual Sensor for Kinematic Estimation of Flexible Links in Parallel Robots

被引：5

作者：

Bengoa, Pablo ^{[1
]}

Zubizarreta, Asier ^{[1
]}

Cabanes, Itziar ^{[1
]}

Mancisidor, Aitziber ^{[1
]}

Pinto, Charles ^{[2
]}

Mata, Sara ^{[1
]}

机构：

[1] Univ Basque Country UPV EHU, Dept Automat Control & Syst Engn, Fac Engn Bilbao, Plaza Ingn Torres Quevedo 1, Bilbao 48013, Spain

[2] Univ Basque Country UPV EHU, Dept Mech Engn, Fac Engn Bilbao, Plaza Ingn Torres Quevedo 1, Bilbao 48013, Spain

来源：

SENSORS | 2017年 / 17卷 / 09期

关键词：

flexible linkmanipulator; parallel robots; kinematics; Finite ElementMethod; virtual sensor; FUSED SMART-SENSOR; DYNAMIC ANALYSIS; MANIPULATORS;

D O I：

10.3390/s17091934

中图分类号：

O65 [分析化学];

学科分类号：

070302 ; 081704 ;

摘要：

The control of flexible link parallel manipulators is still an open area of research, endpoint trajectory tracking being one of the main challenges in this type of robot. The flexibility and deformations of the limbs make the estimation of the Tool Centre Point (TCP) position a challenging one. Authors have proposed different approaches to estimate this deformation and deduce the location of the TCP. However, most of these approaches require expensive measurement systems or the use of high computational cost integration methods. This work presents a novel approach based on a virtual sensor which can not only precisely estimate the deformation of the flexible links in control applications (less than 2% error), but also its derivatives (less than 6% error in velocity and 13% error in acceleration) according to simulation results. The validity of the proposed Virtual Sensor is tested in a Delta Robot, where the position of the TCP is estimated based on the Virtual Sensor measurements with less than a 0.03% of error in comparison with the flexible approach developed in ADAMS Multibody Software.

引用

页数：22

共 47 条

[31] THE JACOBIAN MATRIX FOR A FLEXIBLE MANIPULATOR [J].