Simulational study of a hydraulicly driven parallel manipulator control system

• Autorzy: Frączek J. , Wojtyra M. , Dayliakos I. , Papadopoulos E.
• Języki publikacji: EN

Abstrakty

EN

A simulational model of 6 dof Stewart platform type parallel manipulator is presented. The manipulator is driven by electrohydraulic actuators. The developed control scheme employs the dynamic and hydraulic model of the system. The manipulator model consists of the rigid body equations of motion and the hydraulic dynamics of the main elements. Friction is included in the model. Two well-known software packages, one designed to perform control system simulation and the other dedicated to multibody simulation, are simultaneously used to conduct the study. The aim of the study is to check if it is the impact of dynamics model accuracy on the quality of control process. The simplifications of the model and the problems with finding accurate values of its parameters (especially friction parameters) are considered. The study helps to predict the possible results of inaccurate determination of the crucial model parameters. The simulation results show, that inverse dynamics model simplifications consisting in neglecting the mass of actuators have relatively little influence on the control quality. The effects of actuators masses neglecting can be reduced by appropriate changes in the modelled mass of the platform. The study shows that friction effects should be introduced to the inverse dynamics model and the friction parameters should be identified with possibly big accuracy. The parameters describing stiction-friction transition effects are the crucial ones.

Słowa kluczowe

EN

robotics; control; dynamics; simulation; parallel manipulators; inverse dynamics models

• Wydawca: Łukasiewicz Research Network - Institute of Aviation ; European Science Society of Powertrain and Transport KONES Poland ; Wydawnictwo Instytutu Technicznego Wojsk Lotniczych
• Czasopismo: Journal of KONES
• Rocznik: 2008
• Tom: Vol. 15, No. 1
• Strony: 51--67
• Opis fizyczny: Bibliogr. 8 poz., rys.

Twórcy

autor

Frączek J.

autor

Wojtyra M.

autor

Dayliakos I.

autor

Papadopoulos E.

• Warsaw University of Technology Institute of Aeronautics and Applied Mechanics Nowowiejska Street 24, 00-665 Warsaw, Poland,

Bibliografia

• [1] Angeles, J., Fundamentals of Robotic Mechanical Systems, Springer Science+Business Media, 3rd Edition, 2007.
• [2] Blackburn, J. F., Reethof, G., Shearer, J. L., Fluid Power Control, Cambridge, MA: MIT Press, 1960.
• [3] Davliakos, I., Zafiris, A., Papadopoulos, E., Joint Space Controller Design for Electrohydraulic Servos, Proc. 2006 IEEE International Symposium on Computer-Aided Control Systems Design, (CACSD '06), pp. 796-801, 2006.
• [4] Davliakos, I., Papadopoulos, E., Invariant Error Dynamics Controller for a 6-dof Electrohydraulic Stewart Platform, Proc. 6th CISM-IFToMM Symposium on Robot Design, Dynamics and Control, (ROMANSY ’06), Warsaw 2006.
• [5] Davliakos, I., Chatzakos, P., Papadopoulos, E., Development of a Model-based Impedance Controller for Electrohydraulic Servos, Proc. International Conference on Robotics and Applications, Cambridge, MA, USA 2005.
• [6] Merritt, H. E., Hydraulic Control Systems, J. Wiley, 1967.
• [7] Thayer, W.J., Specification Standards for Electrohydraulic Flow Control Servovalves, Technical Bulletin 117, Moog Incorporation Control Division, E. Aurora, New York 1962.
• [8] Tsai, L.-W., Robot Analysis, The Mechanics of Serial and Parallel Manipulators, John Wiley & Sons Inc., New York 1999.