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Synchronization controller for a 3-RRR parallel manipulator
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Nguyen, Khoa Dang, Ha, Cheolkeun, Dinh, Quang Truong and Marco, James (2018) Synchronization controller for a 3-RRR parallel manipulator. International Journal of Precision Engineering and Manufacturing, 19 (3). pp. 339-347. doi:10.1007/s12541-018-0041-z ISSN 2234-7593.
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WRAP-synchronization-controller-3-RRR-manipulator-Marco-2018.pdf - Accepted Version - Requires a PDF viewer. Download (1224Kb) | Preview |
Official URL: http://dx.doi.org/10.1007/s12541-018-0041-z
Abstract
A 3-RRR parallel manipulator has been well-known as a closed-loop kinematic chain mechanism in which the end-effector generally a moving platform is connected to the base by several independent actuators. Performance of the robot is decided by performances of the component actuators which are independently driven by tracking controllers without acknowledging information from each other. The platform performance is degraded if any actuator could not be driven well. Therefore, this paper aims to develop an advanced synchronization (SYNC) controller for position tracking of a 3-RRR parallel robot using three DC motor-driven actuators. The proposed control scheme consists of three sliding mode controllers (SMC) to drive the actuators and a supervisory controller named PID-neural network controller (PIDNNC) to compensate the synchronization errors due to system nonlinearities, uncertainties and external disturbances. A Lyapunov stability condition is added to the PIDNNC training mechanism to ensure the robust tracking performance of the manipulator. Numerical simulations have been performed under different working conditions to demonstrate the effectiveness of the suggested control approach.
Item Type: | Journal Article | ||||||
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Subjects: | T Technology > TJ Mechanical engineering and machinery | ||||||
Divisions: | Faculty of Science, Engineering and Medicine > Engineering > WMG (Formerly the Warwick Manufacturing Group) | ||||||
Library of Congress Subject Headings (LCSH): | Parallel robots, Parallel kinematic machines, Synchronization, Sliding mode control, Neural networks (Computer science) | ||||||
Journal or Publication Title: | International Journal of Precision Engineering and Manufacturing | ||||||
Publisher: | Springer | ||||||
ISSN: | 2234-7593 | ||||||
Official Date: | 16 March 2018 | ||||||
Dates: |
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Volume: | 19 | ||||||
Number: | 3 | ||||||
Page Range: | pp. 339-347 | ||||||
DOI: | 10.1007/s12541-018-0041-z | ||||||
Status: | Peer Reviewed | ||||||
Publication Status: | Published | ||||||
Access rights to Published version: | Restricted or Subscription Access | ||||||
Date of first compliant deposit: | 12 April 2018 | ||||||
Date of first compliant Open Access: | 16 March 2019 |
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