Design and control of parallel kinematics platform for nonprehensile manipulation

2017 IEEE International Workshop of Electronics, Control, Measurement, Signals and their Application to Mechatronics (ECMSM) Pub Date : 2017-05-01 DOI:10.1109/ECMSM.2017.7945896

D. Dobriborsci, S. Kolyubin

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引用次数: 6

Abstract

This work describes recent results on design and experimental validation of the parallel kinematics robotic platform for nonprehensile manipulation tasks. Such type of systems are widely used in flight simulators, automobile simulators, industrial automation such as fast sorting. We built a 2DOF Stewart-like platform with webcam-based vision system. Software integration of the system was performed in MATLAB/Simulink. The platform was specially built to conduct the following experiments: object stabilization in the specific point on the plate, optimal point-to-point motions and desired trajectory tracking as well as object-to-plate contact model identification. This paper presents control-oriented dynamic model of the system and corresponding control algorithms including extension of the output adaptive controllers suitable for discrete time systems. We also compare the adaptive motion control algorithms with conventional approaches like PID-controller.

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非抓握操作并联运动平台的设计与控制

本文介绍了用于非抓握操作任务的并联机器人平台的设计和实验验证的最新成果。这类系统广泛应用于飞行模拟器、汽车模拟器、快速分拣等工业自动化中。我们构建了一个2DOF Stewart-like平台，带有基于网络摄像头的视觉系统。在MATLAB/Simulink中对系统进行了软件集成。该平台专门用于板面上特定点的物体稳定实验、最优点对点运动和理想轨迹跟踪实验以及板面接触模型识别实验。本文提出了面向控制的系统动态模型和相应的控制算法，其中包括适用于离散时间系统的输出自适应控制器的扩展。我们还比较了自适应运动控制算法与传统方法如pid控制器。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

2017 IEEE International Workshop of Electronics, Control, Measurement, Signals and their Application to Mechatronics (ECMSM)

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