Trajectory-tracking of 6-RSS Stewart-Gough manipulator by feedback-linearization control using a novel inverse dynamic model based on the force distribution algorithm

IF 16.4 1区化学 Q1 CHEMISTRY, MULTIDISCIPLINARY

Accounts of Chemical Research Pub Date : 2020-05-03 DOI:10.1080/13873954.2020.1754861

Zafer Mahmoud, Mohammad Reza Arvan, V. Nekoukar, M. Rezaei

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引用次数: 3

Abstract

ABSTRACT 6-RSS Stewart-Gough parallel manipulator contains six crank-rod limbs connecting the base and moving platforms to each other, forming a 6DOF manipulator. In this paper, we introduce a novel decoupled inverse dynamic model for this manipulator based on the Force Distribution Algorithm. The performance of the proposed model was evaluated in tracking a complex trajectory (of multiple segments with simultaneous translational and rotational motions) using feedback-linearization control in the joint space and compared with that of the Lagrangian inverse dynamic model. Results showed that this model leads to a better performance in feedback-linearization control, especially when the reference trajectory is quantized, and with less calculation burden in comparison with the Lagrangian model. The control system employing both models showed robustness against payload uncertainty on the moving platform (150% of the moving platform’s mass). The performance assessment and the robustness approval were performed in simulation using a Simscape model specifically built for this purpose in the Simulink environment.

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基于力分布算法的新型逆动力学模型反馈线性化控制6-RSS Stewart Gough机械手轨迹跟踪

6-RSS Stewart-Gough并联机械臂包含6个曲柄杆分支，将基座和运动平台相互连接，形成一个6自由度的机械臂。本文提出了一种基于力分布算法的机械臂解耦逆动力学模型。利用反馈线性化控制在关节空间中跟踪复杂轨迹(多段同时进行平移和旋转运动)的性能，并与拉格朗日逆动力学模型进行了比较。结果表明，与拉格朗日模型相比，该模型具有更好的反馈线性化控制性能，特别是在参考轨迹量化时，计算量更少。采用两种模型的控制系统对运动平台载荷不确定性(运动平台质量的150%)具有鲁棒性。性能评估和鲁棒性批准是在Simulink环境中使用专门为此目的构建的Simscape模型进行仿真的。

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

Accounts of Chemical Research 化学-化学综合

CiteScore

31.40

自引率

1.10%

发文量

312

审稿时长

2 months

期刊介绍： Accounts of Chemical Research presents short, concise and critical articles offering easy-to-read overviews of basic research and applications in all areas of chemistry and biochemistry. These short reviews focus on research from the author’s own laboratory and are designed to teach the reader about a research project. In addition, Accounts of Chemical Research publishes commentaries that give an informed opinion on a current research problem. Special Issues online are devoted to a single topic of unusual activity and significance. Accounts of Chemical Research replaces the traditional article abstract with an article "Conspectus." These entries synopsize the research affording the reader a closer look at the content and significance of an article. Through this provision of a more detailed description of the article contents, the Conspectus enhances the article's discoverability by search engines and the exposure for the research.