{"title":"Control of a painting robot containing parallelogram linkages based on its distinctive dynamic characteristics","authors":"Runtong Sun , Jun Wu , Yanling Tian","doi":"10.1016/j.mechmachtheory.2024.105702","DOIUrl":null,"url":null,"abstract":"<div><p>To achieve high-performance control, the dynamics and control should be closely integrated. This paper focuses on dynamic-based control design for a hybrid painting robot containing parallelogram linkages to improve its tracking accuracy and motion consistency. The study derives the dynamics of the parallelogram component to investigate its distinctive attributes, which include time invariance, joint independence, and linear approximability. Based on these unique characteristics, a novel theory-experiment mixed two-step method for control design is presented. It involves identifying and visualizing an optimized space of control parameters through theoretical deduction, followed by determining the optimal control parameters within this space through experimental trials. Experimental results underscore a substantial improvement in the tracking accuracy and motion consistency of the painting robot.</p></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":null,"pages":null},"PeriodicalIF":4.5000,"publicationDate":"2024-06-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Mechanism and Machine Theory","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0094114X24001290","RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, MECHANICAL","Score":null,"Total":0}
引用次数: 0
Abstract
To achieve high-performance control, the dynamics and control should be closely integrated. This paper focuses on dynamic-based control design for a hybrid painting robot containing parallelogram linkages to improve its tracking accuracy and motion consistency. The study derives the dynamics of the parallelogram component to investigate its distinctive attributes, which include time invariance, joint independence, and linear approximability. Based on these unique characteristics, a novel theory-experiment mixed two-step method for control design is presented. It involves identifying and visualizing an optimized space of control parameters through theoretical deduction, followed by determining the optimal control parameters within this space through experimental trials. Experimental results underscore a substantial improvement in the tracking accuracy and motion consistency of the painting robot.
期刊介绍：
Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal.
The main topics are:
Design Theory and Methodology;
Haptics and Human-Machine-Interfaces;
Robotics, Mechatronics and Micro-Machines;
Mechanisms, Mechanical Transmissions and Machines;
Kinematics, Dynamics, and Control of Mechanical Systems;
Applications to Bioengineering and Molecular Chemistry
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
