Hostname: page-component-89b8bd64d-rbxfs Total loading time: 0 Render date: 2026-05-12T06:35:23.907Z Has data issue: false hasContentIssue false
  • English
  • Français

Dynamic modeling of planar parallel robots considering passive joint sensor data

Published online by Cambridge University Press:  11 August 2009

Asier Zubizarreta ,
Itziar Cabanes ,
Marga Marcos  and
Charles Pinto
Asier Zubizarreta
Affiliation:
Department of Automatic Control and System Engineering, University of the Basque Country, Spain
Itziar Cabanes*
Affiliation:
Department of Automatic Control and System Engineering, University of the Basque Country, Spain
Marga Marcos
Affiliation:
Department of Automatic Control and System Engineering, University of the Basque Country, Spain
Charles Pinto
Affiliation:
Department of Mechanical Engineering, University of the Basque Country, Spain
*
*Corresponding author. E-mail: itziar.cabanes@ehu.es
Get access Rights & Permissions [Opens in a new window]

Summary

Model-based advanced control approaches are needed to achieve high speed and acceleration and precision in robotic operations. These control schemes need a proper dynamic model. Many approaches have been proposed by different authors in order to obtain the dynamic model of these structures. However, most of them do not consider the possibility to introduce redundant sensor data. In this paper, a methodology for obtaining a compact dynamic model considering passive joint sensor data is proposed. The dynamic model is defined in compact and structured form, which makes it appropriate to be used in advanced control techniques.

Information

Type
Article
Information
Robotica , Volume 28 , Issue 5 , September 2010 , pp. 649 - 661
Copyright
Copyright © Cambridge University Press 2009

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

1.Angeles, J., Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms (Springer, Secaucus, NJ, 2007).CrossRefGoogle Scholar
2.Baron, L. and Angeles, J., “Kinematic decoupling of parallel manipulators using joint-sensor data,” IEEE Trans. Robot. Autom., 16 (6), 644–651 (2000).CrossRefGoogle Scholar
3.Barrientos, A., Peñín, L. F., Balaguer, C. and Aracil, R., Fundamentos de Robótica, 2nd ed. (in spanish) (McGraw Hill, Madrid, Spain, 2007).Google Scholar
4.Bauma, V., Valážek, M. and Sika, Z., “Increase of pkm Positioning Accuracy by Redundant Measurement,” Proceedings of the 5th Chemnitz Parallel Kinematics Seminar, Chemnitz, Germany, (2006) pp. 547–563.Google Scholar
5.Bhattacharya, S., Hatwal, H. and Ghosh, A., “An on-line parameter estimation scheme for generalized stewart platform type parallel manipulators,” Mech. Mach. Theory, 32 (1), 79–89 (1997).CrossRefGoogle Scholar
6.Bhattacharya, S., Nenchev, N. and Uchiyama, M., “A recursive formula for the inverse of the inertia matrix of a parallel manipulator,” Mech. Mach. Theory, 33 (7), 957–964 (1998).CrossRefGoogle Scholar
7.Craig, J., Introduction to Robotics: Mechanics and Control. Number 0201543613 (Prentice Hall, Englewood Cliffs, NJ, 2005).Google Scholar
8.Dasgupta, B. and Choudhurry, P., “General strategy based on the Newton–Euler approach for the dynamic formulation of parallel manipulators,” Mech. Mach. Theory, 34, 801–824 (1999).CrossRefGoogle Scholar
9.Dasgupta, B. and Mruthyunjaya, T. S., “A Newton–Euler formulation for the inverse dynamics of the Stewart platform,” Mech. Mach. Theory, 33 (8), 1135–1152 (1998).CrossRefGoogle Scholar
10.Do, W. Q. D. and Yang, D. C. H., “Inverse dynamic analysis and simulation of a platform type of robot,” J. Robot. Syst., 5 (3), 209–227 (1988).CrossRefGoogle Scholar
11.Ghorbel, F., “Modeling and pd Control of Closed-Chain Mechanical Systems,” Proceedings of the 34th IEEE Conference on Decision and Control, New Orleans, LA (1995) pp. 540–542.Google Scholar
12.Ghorbel, F., Chételat, O., Gunawardana, R. and Longchamp, R., “Modeling and set point control of closed-chain mechanisms: Theory and experiment,” IEEE Trans. Control Syst. Technol., 8 (5), 801–815 (2000).CrossRefGoogle Scholar
13.Ghorbel, F., Chételat, O. and Longchamp, R., “A Reduced Model for Constrained Rigid Bodies with Application to Parallel Robots,” Proceedings of the IFAC Symposium on Robot Control, Capri, Italy (1994) pp. 57–62.Google Scholar
14.Gunawardana, R. and Ghorbel, F., “Pd Control of Closed-Chain Mechanical Systems: An Experimental Study,” Proceedings of the 5th IFAC Symposium on Robot Control (SYROCO'97), Nantes, France (1947) pp. 79–84.Google Scholar
15.Guo, H. B. and Li, H. R., “Dynamic analysis and simulation of a six degree of freedom Stewart platform manipulator,” Proc. Inst. Mech. Eng. Part C: J. Mech. Eng. Sci., 220, 61–72 (2006).CrossRefGoogle Scholar
16.Honegger, M., Codourey, A. and Burdet, E., “Adaptive Control of the Hexaglide, a 6 dof Parallel Manipulator,” IEEE International Conference in Robotics and Automation, Albuquerque, NM (1997) pp. 543–548.Google Scholar
17.Khalil, W. and Guegan, S., “Inverse and direct dynamic modeling of Gough–Stewart robots,” IEEE Trans. Robot., 20 (4), 754–762 (2004).CrossRefGoogle Scholar
18.Khalil, W. and Ibrahim, O., “General solution for the dynamic modeling of parallel robots,” J. Int. Robot Syst. 19–37 (2007).CrossRefGoogle Scholar
19.Lebret, G., Liu, K. and Lewis, F. L., “Dynamic analysis and control of a stewart platform manipulators,” J. Robot. Syst., 10 (5), 629–655 (1993).CrossRefGoogle Scholar
20.Lee, K.-M. and Shah, D. K., “Dynamic analysis of a three-degree-of-freedom in-parallel actuated manipulator,” IEEE J. Robot. Autom., 4 (40), 361–367 (1988).CrossRefGoogle Scholar
21.Macho, E., Altuzarra, O., Pinto, C. and Hernández, A., “Workspaces associated to assembly modes of the 5r planar parallel manipulator,” Robotica, 26, 395–403 (2008).CrossRefGoogle Scholar
22.Marquet, F., Company, O., Krut, S. and Pierrot, F., “Enhancing Parallel Robots Accuracy with Redundant Sensors,” Proceedings of the 2002 IEEE International Conference on Robotics and Automation, Washington, DC (2002) pp. 4114–4119.Google Scholar
23.Merlet, J. P., “Closed Form Resolution of the Direct Kinematics of Parallel Manipulators Using Extra Sensors Data,” Proceedings of the 1993 IEEE International Conference on Robotics and Automation, Atlanta, GA (1993) pp. 200–204.Google Scholar
24.Merlet, J. P., Parallel Robots, 2nd ed. (Kluwer, Dordrecht, 2006).Google Scholar
25.Murray, J. and Lovell, G., “Dynamic modeling of closed-chain robotic manipulators and implications for trajectory control,” IEEE Trans. Robot. Autom., 5 (4), 522–528 (1989).CrossRefGoogle Scholar
26.Nakamura, Y. and Godoussi, M., “Dynamics computation of closed-link robot mechanisms with nonredundant and redundant actuators,” IEEE Trans. Robot. Autom., 5 (3), 294–302 (1989).CrossRefGoogle Scholar
27.Petuya, V., Alonso, A., Altuzarra, O. and Hernández, A., “Resolution of the Direct Position Problem of Parallel Kinematic Platforms Using the Geometrical-Iterative Method,” Proceedings of the 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain (2005) pp. 3244–3249.CrossRefGoogle Scholar
28.Riebe, S. and Ulbrich, H., “Modelling and online computation of the dynamics of a parallel kinematic with six degrees-of-freedom,” Arch. Appl. Mech., 72, 813–829 (2003).CrossRefGoogle Scholar
29.Staicu, S., Zhang, D. and Rugescu, R., “Dynamic modelling of a 3 dof parallel manipulator using recursive matrix relations,” Robotica, 24, 125–130 (2006).CrossRefGoogle Scholar
30.Tsai, L.-W., Robot Analysis. Number ISBN: 0-471-32593-7 (Wiley-Interscience, New York, 1999).Google Scholar
31.Tsai, L.-W., “Solving the inverse dynamics of a Stewart–Gough manipulator by the principle of virtual work,” ASME J. Mech. Des., 122, 3–9 (2000).CrossRefGoogle Scholar
32.Wang, J. and Gosselin, C., “A new approach for the dynamic analysis of parallel manipulator,” Multibody Sys. Dyn., 2, 317–334 (1998).CrossRefGoogle Scholar
33.Zanganeh, K. E., Sinatra, R. and Angeles, J., “Kinematics and dynamics of a six-degree-of-freedom parallel manipulator with revolute legs,” Robotica, 15, 385–394 (1997).CrossRefGoogle Scholar
34.Zhiyong, Y., Jiang, W. and Jiangping, M., “Motor-mechanism dynamic model based neural network optimized ctc control of a high speed parallel manipulator,” Mechatronics, 17, 381–390 (2007). doi:10.1016/j.mechatronics.2007.04.009.Google Scholar
35.Zhu, Z., Li, J., Gan, Z. and Zhang, W., “Kinematic and dynamic modelling for real-time control of tau parallel robot,” Mech. Mach. Theory, 40, 1051–1067 (2005).CrossRefGoogle Scholar
36.Zubizarreta, A., Cabanes, I., Marcos, M. and Pinto, Ch., “Control of parallel robots using passive sensor data,” Proceedings of the IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems, Nice, France (2008) pp. 2398–2403.Google Scholar