Control of a painting robot containing parallelogram linkages based on its distinctive dynamic characteristics

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.