并联机械臂位置误差估计在控制中的应用

2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI:10.1109/ICMERR56497.2022.10097725

B. B. Ghosh, B. Sarkar, R. Saha

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引用次数: 0

摘要

并联机械臂具有精度高、响应速度快、刚性好等优点，在工业应用中逐渐取代串行机械臂。本研究以电液二自由度PM为研究对象，研究其控制性能。除了测量误差和传感器误差外，并联机器人还会产生结构误差，从而导致关节间隙。实验室。尺度2DOF的PM被认为是由于关节间隙的结构误差分析。在此基础上，设计了一种无模型自整定模糊pid -bias (F-PID-B)控制器，用于控制永磁顶台的姿态。研究了正弦升沉和俯仰组合工况下的控制器性能。测试了该控制器在不同需求和不同外部负载下的鲁棒性。F-PID-B控制器已经显示出使用低成本比例阀控制的液压驱动PM处理具有测量不确定性和系统非线性的外部负载干扰的能力。

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Positional Error Estimation of the Parallel Manipulator for Control Application

Parallel manipulator (PM) become popular in industrial application over serial manipulator owing to the higher accuracy, fast response and rigidity. In the present study electrohydraulic two degree of freedom (2DOF) PM is considered for study the control performance. Apart from measurement and sensor error parallel manipulator may experienced structural error, which may cause of joint clearance. Lab. scale 2DOF PM has been considered structural error analysis due to joint clearance. Further, a model free self-tuning fuzzy-PID-bias (F-PID-B) controller has been developed for control of the orientation of the top platform of PM. The controller performance has been studied for combined sinusoidal heave and pitch demand. The robustness of the controller has been tested under various demand and different external load. F-PID-B controller has shown the ability to handle external load disturbances with measurement uncertainty and system nonlinearity using a low cost proportional valve controlled hydraulically actuated PM.

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2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR)

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