Control Parameters Design Based on Dynamic Characteristics of a Hybrid Robot With Parallelogram Structures

被引：9
|
作者：
Liu, Zilin [1 ,2 ,3 ]
Wu, Jun [1 ,2 ,3 ]
Wang, Liping [1 ,2 ,3 ]
Zhang, Binbin [1 ,2 ,3 ]
机构：
[1] Tsinghua Univ, State Key Lab Tribol, Dept Mech Engn, Beijing 100084, Peoples R China
[2] Tsinghua Univ, Inst Mfg Engn, Dept Mech Engn, Beijing 100084, Peoples R China
[3] Beijing Key Lab Precis Ultra Precis Mfg Equipment, Beijing 100084, Peoples R China
来源：
IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2021年 / 26卷 / 02期
基金：
中国国家自然科学基金;
关键词：
Dynamics; Service robots; Kinematics; Mechatronics; Tuning; Vehicle dynamics; Control design; manipulator dynamic; parallel robots; SYSTEM;
D O I：
10.1109/TMECH.2020.3019424
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Control parameter designing is an essential issue for industrial robot applications, in which the dynamic characteristics of robots play an important role. This article investigates the dynamic and control parameter design of a hybrid spray-painting robot with parallelogram structures to improve its tracking performance. The dynamic model of the robot is derived, and its intrinsic dynamic properties, such as time-varying characteristics, decoupling driving properties, and the contribution of each component to the total driving torque, are investigated. Based on the robot dynamic analysis, the comprehensive performance of the robotic mechatronic system is examined, and several principles for control parameter design are presented. Finally, on the basis of the small noise excitation method, a strategy to determine the robot pose for control parameter tuning is proposed. The strategy is experimentally verified to improve the consistency of motion accuracy in the entire workspace effectively.
引用
收藏
页码：1140 / 1150
页数：11
相关论文
共 50 条
  • [41] Simultaneous identification and control of a hybrid dynamic model for a mobile robot
    Austin, DJ
    PROCEEDINGS OF THE 39TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5, 2000, : 3138 - 3143
  • [42] Dynamic Hybrid Control of a Hexapod Walking Robot: Experimental Verification
    Zhong, Guoliang
    Deng, Hua
    Xin, Guiyang
    Wang, Hengsheng
    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2016, 63 (08) : 5001 - 5011
  • [43] Dynamic Hybrid Position/Force Control for Parallel Robot Manipulators
    Deng, Wenbin
    Lee, Hyuk-Jin
    Lee, Jeh-Won
    ROMANSY 18: ROBOT DESIGN, DYNAMICS AND CONTROL, 2010, (524): : 57 - 64
  • [44] Identification of Robot Dynamic Parameters Based on Equimomental Systems
    Hayat, Abdullah Aamir
    Sahat, Subir Kumar
    PROCEEDINGS OF THE ADVANCES IN ROBOTICS (AIR'17), 2017,
  • [45] On the Design of a Three-DOF Cable-Suspended Parallel Robot Based on a Parallelogram Arrangement of the Cables
    Vu, Dinh-Son
    Barnett, Eric
    Zaccarin, Anne-Marie
    Gosselin, Clement
    CABLE-DRIVEN PARALLEL ROBOTS, 2018, 53 : 319 - 330
  • [46] Integrated Structure-Control Design of a Bipedal Robot Based on Passive Dynamic Walking
    Martinez-Castelan, Josue Nathan
    Villarreal-Cervantes, Miguel Gabriel
    MATHEMATICS, 2021, 9 (13)
  • [47] Dynamic Multilevel Optimization of Machine Design and Control Parameters Based on Correlation Analysis
    Meng, Xiangjun
    Wang, Shuhong
    Qiu, Jie
    Zhu, Jian Guo
    Wang, Yi
    Guo, Youguang
    Liu, Dikai
    Xu, Wei
    IEEE TRANSACTIONS ON MAGNETICS, 2010, 46 (08) : 2779 - 2782
  • [48] Dynamic modelling and walk simulation for a new four-degree-of-freedom parallelogram bipedal robot with sideways stability control
    Jo, Hudyjaya Siswoyo
    Mir-Nasiri, Nazim
    MATHEMATICAL AND COMPUTER MODELLING, 2013, 57 (1-2) : 254 - 269
  • [49] Dynamic access control of collaborative design process based on TRBAC hybrid model
    Guo, Yin-Zhang
    Zeng, Jian-Chao
    Jisuanji Jicheng Zhizao Xitong/Computer Integrated Manufacturing Systems, CIMS, 2012, 18 (02): : 261 - 268
  • [50] DESIGN, DEVELOPMENT AND HYBRID IMPEDANCE CONTROL OF AN ANKLE REHABILITATION ROBOT
    Yildirim, Emre
    Aktan, Mehmet Emin
    Akdogan, Erhan
    Misirlioglu, Tugce Ozekli
    Palamar, Deniz
    JOURNAL OF MECHANICS IN MEDICINE AND BIOLOGY, 2025, 25 (01)
12345