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An iterative tuning approach for feedforward control of parallel manipulators by considering joint couplings
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Liu, Qi, Xiao, Juliang, Yang, Xu, Liu, Haitao, Huang, Tian and Chetwynd, D. G. (2019) An iterative tuning approach for feedforward control of parallel manipulators by considering joint couplings. Mechanism and Machine Theory, 140 . pp. 159-169. doi:10.1016/j.mechmachtheory.2019.05.017 ISSN 0094-114X.
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WRAP-iterative-tuning-approach-feedforward-control-parallel-manipulators-considering-joint-couplings-Chetwynd-2019.pdf - Accepted Version - Requires a PDF viewer. Available under License Creative Commons Attribution Non-commercial No Derivatives 4.0. Download (2484Kb) | Preview |
Official URL: http://dx.doi.org/10.1016/j.mechmachtheory.2019.05...
Abstract
Feedforward control is an effective way to improve the joint tracking accuracy of robotic systems. This paper presents an iterative approach for feedforward controller parameter tuning of parallel manipulators that considers joint couplings (cross-talk). Based upon a compound control strategy, increments of the feedforward tuning parameters are iteratively updated by minimizing the sum of squares of joint tracking errors at each step. A plant-free identification Jacobian is formulated using the measured data associated with a number of sequential statuses within each iteration cycle. Experiments on the 3-DOF parallel mechanism within a 5-DOF hybrid robot verify parameter convergence and the extrapolation capability of the proposed approach. Compared to otherwise similar feedforward control not considering joint couplings, the root mean square of joint tracking errors was reduced by up to 22% when the mechanism moved at high speed along a path in the neighborhood of the reference configuration.
| Item Type: | Journal Article | |||||||||||||||
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| Subjects: | T Technology > TJ Mechanical engineering and machinery | |||||||||||||||
| Divisions: | Faculty of Science, Engineering and Medicine > Engineering > Engineering | |||||||||||||||
| Library of Congress Subject Headings (LCSH): | Robots -- Control systems, Feedforward control systems | |||||||||||||||
| Journal or Publication Title: | Mechanism and Machine Theory | |||||||||||||||
| Publisher: | Pergamon-Elsevier Science Ltd. | |||||||||||||||
| ISSN: | 0094-114X | |||||||||||||||
| Official Date: | October 2019 | |||||||||||||||
| Dates: |
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| Volume: | 140 | |||||||||||||||
| Page Range: | pp. 159-169 | |||||||||||||||
| DOI: | 10.1016/j.mechmachtheory.2019.05.017 | |||||||||||||||
| Status: | Peer Reviewed | |||||||||||||||
| Publication Status: | Published | |||||||||||||||
| Access rights to Published version: | Restricted or Subscription Access | |||||||||||||||
| Date of first compliant deposit: | 12 June 2019 | |||||||||||||||
| Date of first compliant Open Access: | 3 June 2020 | |||||||||||||||
| RIOXX Funder/Project Grant: |
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