© The Institution of Engineering and Technology
Zeroing dynamics (ZD), as a powerful method proposed for time-varying problems solving, has found successful applications in motion control of serial manipulators. Compared with serial manipulators, parallel manipulators possess some attractive advantages such as high carrying capacity and high operation accuracy. However, the inherent differences between parallel and serial manipulators set great difficulties on the applications of ZD to the control of parallel manipulators. Making progress along this direction, the first ZD based motion controller of parallel manipulators is proposed and the design procedure of the ZD based scheme is presented. As a typical application, the proposed scheme is utilised to control a Stewart platform for tracking a quatrefoil-shaped path, which illustrates the effectiveness of the ZD based scheme.
References
-
-
1)
-
9. Yildirim, S.: ‘Neural network controller for cooperating robots’, Electron. Lett., 2001, 37, (22), pp. 1351–1352 (doi: 10.1049/el:20010924).
-
2)
-
4. Patel, Y., George, P.: ‘Parallel manipulators applications – a survey’, Mod. Mech. Eng., 2012, 2, (03), pp. 57–64 (doi: 10.4236/mme.2012.23008).
-
3)
-
8. Lee, B.: ‘Development of coaxial wire reduction gear for manipulator robots’, Electron. Lett., 2015, 51, (10), pp. 747–749 (doi: 10.1049/el.2014.4528).
-
4)
-
2. Zhang, Y., Zhang, Z.: ‘Repetitive motion planning and control of redundant robot manipulators’ (Springer-Verlag, New York, 2013).
-
5)
-
10. Lee, J., Kang, B., Kim, D.: ‘Fast genetic algorithm for robot path planning’, Electron. Lett., 2013, 49, (23), pp. 1449–1451 (doi: 10.1049/el.2013.3143).
-
6)
-
7. Xu, Z., Weng, C.: ‘Track-position and vibration control simulation for strut of the Stewart platform’, J. Zhejiang Univ. Sci. A, 2013, 14, (4), pp. 281–291 (doi: 10.1631/jzus.A1200278).
-
7)
-
13. Mohammed, A.M., Li, S.: ‘Dynamic neural networks for kinematic redundancy resolution of parallel Stewart platforms’, IEEE Trans. Cybern., 2015, 17, (3), pp. 1400–1410.
-
8)
-
5. Connolly, C.: ‘ABB high-speed picking robots establish themselves in food packaging’, Ind. Robot., 2007, 34, (4), pp. 281–284 (doi: 10.1108/01439910710749591).
-
9)
-
11. Lu, C., Huang, Y., Lee, C., Yang, Z.: ‘Adaptive controller design for mobile robots’, Electron. Lett., 2014, 50, (10), pp. 743–745 (doi: 10.1049/el.2014.0801).
-
10)
-
1. Zhang, Y., Xiao, L., Xiao, Z., Mao, M.: ‘Zeroing dynamics, gradient dynamics and newton iterations’ (CRC Press, Florida, 2015).
-
11)
-
12. Kumar, P.R., Chalanga, A., Bandyopadhyay, B.: ‘Position control of Stewart platform using continuous higher order sliding mode control’. Proc. the 10th IEEE Asian Control Conf., Kota Kinabalu, Malaysia, June 2015.
-
12)
-
6. Jáuregui, J.C., Hernández, E.E., Ceccarelli, M., López-Cajún, C., Garca, A.: ‘Kinematic calibration of precise 6-DOF Stewart platform-type positioning systems for radio telescope applications’, Front. Mech. Eng., 2013, 8, (3), pp. 252–260 (doi: 10.1007/s11465-013-0249-7).
-
13)
-
3. Tsai, L.: ‘Robot analysis: the mechanics of serial and parallel manipulators’ (John Wiley & Sons, New York, 1999).
http://iet.metastore.ingenta.com/content/journals/10.1049/el.2016.2307
Related content
content/journals/10.1049/el.2016.2307
pub_keyword,iet_inspecKeyword,pub_concept
6
6