Modified PSO Method for Robust Control of 3RPS Parallel Manipulators
Joint Authors
Zhan, Tung-Sheng
Kao, Chih-Cheng
Source
Mathematical Problems in Engineering
Issue
Vol. 2010, Issue 2010 (31 Dec. 2010), pp.1-25, 25 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2010-12-02
Country of Publication
Egypt
No. of Pages
25
Main Subjects
Abstract EN
We propose an effective method to design a modified particle swarm optimization (MPSO) singularity control method for a fully parallel robot manipulator.
By adopting MPSO to obtain simple and effective estimated damping values, the result automatically adjusts the damping value around a singular point and greatly improves the accuracy of system responses.
This method works by damping accelerations of the end effector, so that accelerations along the degenerated directions are zero at a singular point.
These velocities, however, may not be zero in some situations, in which case, fluctuations will be encountered around a singular point.
To overcome this drawback, we propose a control scheme that uses both damped acceleration and damped velocity, called the hybrid damped resolved-acceleration control (HDRAC) scheme.
The MPSO optimization method can immediately provide optimal damping factors when used in an online application.
Our proposed approach offers such superior features as easy implementation, stable convergence characteristics, and good computational efficiency.
The main advantage of the HDRAC with MPSO in the 3RPS parallel manipulator control system is that it is not necessary for the system to plan its path for avoiding the singular point; thus, the workspace can be improved.
Illustrative examples are provided to show the effectiveness of this HDRAC in practical applications, and experimental results verifying the utility of the proposed control scheme are presented.
American Psychological Association (APA)
Zhan, Tung-Sheng& Kao, Chih-Cheng. 2010. Modified PSO Method for Robust Control of 3RPS Parallel Manipulators. Mathematical Problems in Engineering،Vol. 2010, no. 2010, pp.1-25.
https://search.emarefa.net/detail/BIM-461681
Modern Language Association (MLA)
Zhan, Tung-Sheng& Kao, Chih-Cheng. Modified PSO Method for Robust Control of 3RPS Parallel Manipulators. Mathematical Problems in Engineering No. 2010 (2010), pp.1-25.
https://search.emarefa.net/detail/BIM-461681
American Medical Association (AMA)
Zhan, Tung-Sheng& Kao, Chih-Cheng. Modified PSO Method for Robust Control of 3RPS Parallel Manipulators. Mathematical Problems in Engineering. 2010. Vol. 2010, no. 2010, pp.1-25.
https://search.emarefa.net/detail/BIM-461681
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-461681