Dynamics and Control of Robots with Parallel Kinematic Structures

• Autorzy: Heimann B. , Abdellatif H.
• Konferencja: Polish-German Workshop on Dynamical Problems in Mechanical Systems (9 ; 4-10.09.2005 ; Paszkówka, Poland)
• Języki publikacji: EN

Abstrakty

EN

It is often, that the dynamics of parallel robots are mostly restricted to simple models to keep real-time capabilities in control systems. The here presented approach for modelling the dynamics takes especially into consideration real-time and parameter identification aspects. This formulation is automatically obtained by an algorithm, that utilizes Jourdain's principle of virtual power using operational space presentation. It leads to a formulation of the dynamic equations of minimal order. The use of linear estimators is based on a formulation of the dynamic equations, which is linear with respect to a dynamic parameter vector of minimal dimension. The principal design methodology for such machines with parallel kinematic structure is exemplarily discussed by consideration of two different machines: the robot "PaLiDA" and a hydraulic test stand "MSI" with 6 degree-of-freedom each. The experimental application of the identified model to model-based feedforward control of the innovative hexapod PaLiDA, which has been developed by the Institute of Production Engineering and Machine Tools of the University of Hannover, proves the capability and efficiency of the presented algorithms.

Słowa kluczowe

EN

parallel robots; inverse dynamics; parameter identification; feedforward control

• Wydawca: Oficyna Wydawnicza Politechniki Warszawskiej
• Czasopismo: Machine Dynamics Problems
• Rocznik: 2005
• Tom: Vol. 29, No. 4
• Strony: 59--68
• Opis fizyczny: Bibliogr. 11 poz., il., rys., wykr.

Twórcy

autor

Heimann B.

• University of Hannover, Hannover Center of Mechatronics (MZH)

autor

Abdellatif H.

• University of Hannover, Hannover Center of Mechatronics (MZH)

Bibliografia

• 1. Abdellatif, H., Benimelli, F., Heimann, B., Grotjahn, M., 2004, Direct Identification of Dynamic Parameters for Parallel Manipulators, Proc, of the Int. Conference on Mechatronics and Robotics, MechRob2004, Aachen, Germany, 999-1005.
• 2. Armstrong, B., 1988, Dynamics for robot control: Friction modeling and ensuring excitation during parameter identification, Ph. D.-thesis, Stanford University, Stanford.
• 3. Grotjahn, M., Daemi, M., Heimann, B., 2001, Friction and Rigid Body Identification of Robot Dynamics, Int. J. of Solids and Structures, 38(10-13), 1889-1902.
• 4. Grotjahn, M., Heimann, B., Abdellatif, H., 2004, Identification of Friction and Rigid- Body Dynamics of Parallel Kinematic Structures for Model Based Control, Multibody Systems Dynamics, 11, 273-294.
• 5. Grotjahn, M., Kühn, J., Heimann, B., Grendel, 2002, Dynamic Equations of Parallel Robots in Minimal Dimensional Parameter-Linear Form, Proc, of the 14th CISM-IFToMM Symposium on the Theory and Practice of Robots and Manipulators (RoManSy2002), 67-76.
• 6. Honegger, M., Brega, R., Schweitzer, G., 2000, Application of a Nonlinear Adaptive Controller to a 6 dof Parallel Manipulator, Proc, of the IEEE Int. Conf, on Robotics and Automation, 1930-1935.
• 7. Merlet, J.-P., 2000, Parallel Robots, Solid Mechanics and its Applications, Kluwer Academic Publishers, Doderecht, The Netherlands.
• 8. Sirouspour, M.R., Salcudean, S.E., 2001, Nonlinear Control of a Hydraulic Manipulator, Proc, of the IEEE Int. Conf. on Robotics and Automation, 3760-3765.
• 9. Swevers, J., Gansemann, C., de Schutter, J., van Brussel, H., 1996, Experimental Robot Identification Using Optimised Trajectories, Journal of Mechanical Systems and Signal Processing, 5(10), 561-577.
• 10. Tönshoff, H.K., Grendel, H., Grotjahn, M„ 2002, Modeling and Control of a Linear Direct Driven Hexapod, Proc, of the 2002 Parallel Kinematic Machines Int. Conf., 335-350.
• 11. Zhang, C.D., Song, S.M., 1993, An efficient method for inverse dynamics of manipulators based on the virtual work principle, J. of Robotic Systems, 10(5), 605-627.