Experimental and Numerical Study on the Semi-Closed Loop Control of a Planar Parallel Robot Manipulator
Joint Authors
Lin, Tsu-Pin
Kuo, Yong-Lin
Wu, Chun Yu
Source
Mathematical Problems in Engineering
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-05-22
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
This paper implements the model predictive control to fulfill the position control of a 3-DOF 3-RRR planar parallel manipulator.
The research work covers experimental and numerical studies.
First, an experimental hardware-in-the-loop system to control the manipulator is constructed.
The manipulator is driven by three DC motors, and each motor has an encoder to measure the rotating angles of the motors.
The entire system is designed as a semiclosed-loop control system.
The controller receives the encoder signals as inputs to produce signals driving the motors.
Secondly, the motor parameters are obtained by system identification, and the controllers are designed based on these parameters.
Finally, the numerical simulations are performed by incorporating the manipulator kinematics and the motor dynamics; the results are compared with those from the experiments.
Both results show that they are in good agreement at steady state.
There are two main contributions in this paper.
One is the application of the model predictive control to the planar parallel manipulator, and the other one is to overcome the effects of the uncertainties of the DC motors and the performance of the position control due to the dynamic behavior of the manipulator.
American Psychological Association (APA)
Kuo, Yong-Lin& Lin, Tsu-Pin& Wu, Chun Yu. 2014. Experimental and Numerical Study on the Semi-Closed Loop Control of a Planar Parallel Robot Manipulator. Mathematical Problems in Engineering،Vol. 2014, no. 2014, pp.1-9.
https://search.emarefa.net/detail/BIM-497296
Modern Language Association (MLA)
Kuo, Yong-Lin…[et al.]. Experimental and Numerical Study on the Semi-Closed Loop Control of a Planar Parallel Robot Manipulator. Mathematical Problems in Engineering No. 2014 (2014), pp.1-9.
https://search.emarefa.net/detail/BIM-497296
American Medical Association (AMA)
Kuo, Yong-Lin& Lin, Tsu-Pin& Wu, Chun Yu. Experimental and Numerical Study on the Semi-Closed Loop Control of a Planar Parallel Robot Manipulator. Mathematical Problems in Engineering. 2014. Vol. 2014, no. 2014, pp.1-9.
https://search.emarefa.net/detail/BIM-497296
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-497296