Advertisement

Dynamics and Optimized Torque Distribution Based Force/position Hybrid Control of a 4-DOF Redundantly Actuated Parallel Robot with Two Point-contact Constraints

  • Haiying Wen
  • Ming CongEmail author
  • Guifei Wang
  • Wenlong Qin
  • Weiliang Xu
  • Zhisheng Zhang
Article
  • 28 Downloads

Abstract

A 4-DOF redundantly actuated parallel robot (RAPR) for jaw movement achieved by adding two point-contact constraints (higher-kinematic-pairs, HKPs) is presented. The inverse dynamics and driving force optimization model based on pseudo-inverse method are established. In order to overcome the disequilibrium of driving forces of the redundant chains caused by inclusion of point-contact constraints, an optimized torque distribution based force/position hybrid control (OTDFP control) method for trajectory tracking is proposed for this RAPR. Experiments are carried out to evaluate the OTDFP control. Comparison with the conventional position control is performed, showing that the OTDFP control can reduce torque fluctuation and tracking errors of the RAPR. The chewing experiment of silicone shows the RAPR is not only able to track mandibular movement, but also able to emulate chewing force and temporomandibular joint (TMJ) force under the OTDFP control.

Keywords

Dynamics force/position hybrid control point-contact constraints redundant actuation torque distribution 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. [1]
    J. P. Merlet, Parallel Robots, 2nd ed., Springer-Verlag, Dordrecht, The Netherlands, 2006.zbMATHGoogle Scholar
  2. [2]
    A. Mueller, “Redundant actuation of parallel manipulators,” Parallel Manipulators, towards New Applications, I-Tech Education and Publishing, Vienna, Austria, 2008.Google Scholar
  3. [3]
    W. Shang, and S. Cong, “Dexterity and adaptive control of planar parallel manipulators with and without redundant actuation,” J. Comput,. Nonlin. Dyn., vol. 10, no. 1, pp. 011002–01100211, 2014.CrossRefGoogle Scholar
  4. [4]
    H. Shin, S. Lee, J. I. Jeong, and J. Kim, “Antagonistic stiffness optimization of redundantly actuated parallel manipulators in a predefined workspace,” IEEE/ASME Trans. Mechatronics, vol. 18, no. 3, pp. 1161–1169, June 2013.CrossRefGoogle Scholar
  5. [5]
    T. Hufnagel, and A. Mueller, “A projection method for the elimination of contradicting decentralized control forces in redundantly actuated PKM,” IEEE Trans. Robot., vol. 28, pp. 723–728, June 2012.CrossRefGoogle Scholar
  6. [6]
    H. Wen, M. Cong, and G. Wang, “Experimental verification of workspace and mouth-opening movement of a redundantly actuated humanoid chewing robot,” Ind. Robot, vol. 42, no. 5, pp. 406–415, May 2015.CrossRefGoogle Scholar
  7. [7]
    G. Lee, S. Park, D. Lee, F. C. Park, J. I. Jeong, and J. Kim, “Minimizing energy consumption of parallel mechanisms via redundant actuation,” IEEE/ASME Trans. Mechatronics, vol. 20, pp. 2805–2812, December 2015.CrossRefGoogle Scholar
  8. [8]
    J. Wang, and C. M. Gosselin, “Kinematic analysis and design of kinematically redundant parallel mechanisms,” ASME J. Mech,. Des., vol. 126, no. 1, pp. 109–118, January 2004.CrossRefGoogle Scholar
  9. [9]
    J. Wu, J. Wang, L. Wang, and T. Li, “Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy,” Mech. Mach. Theory, vol. 44, no. 4, pp. 835–849, April 2009.CrossRefzbMATHGoogle Scholar
  10. [10]
    Z. Zhu, and R. Dou, “Optimum design of 2-DOF parallel manipulators with actuation redundancy,” Mechatronics, vol. 19, pp. 761–766, August 2009.CrossRefGoogle Scholar
  11. [11]
    F. Marquet, S. Krut, O. Company, and F. Pierrot, “ARCHI: a redundant mechanism for machining with unlimited rotation capacities,” Proc. IEEE Int. Conf. Robot. Autom., Budapest, Hungary, pp. 683–689, Aug. 22–25, 2001.Google Scholar
  12. [12]
    J. Wu, J. Wang, L. Wang, T. Li, and Z. You, “Study on the stiffness of a 5-DOF hybrid machine tool with actuation redundancy,” Mech. Mach. Theory, vol. 44, pp. 289–305, February 2009.CrossRefzbMATHGoogle Scholar
  13. [13]
    L. Wang, J. Wu, J. Wang, and Z. You, “An experimental study of a redundantly actuated parallel manipulator for a 5-DOF hybrid machine tool,” IEEE/ASME Trans. Mechatronics, vol. 14, pp. 72–81, February 2009.CrossRefGoogle Scholar
  14. [14]
    J. Kim, F. C. Park, S. J. Ryu, J. Kim, J. C. Hwang, C. Park, and C. C. Iurascu, “Design and analysis of a redundantly actuated parallel mechanism for rapid machining,” IEEE Trans. Rob. Autom., vol. 17, no. 4, pp. 423–434, August 2001.CrossRefGoogle Scholar
  15. [15]
    Y. Zhao, and F. Gao, “Dynamic performance comparison of the 8PSS redundant parallel manipulator and its non-redundant counterpart-the 6PSS parallel manipulator,” Mech. Mach. Theory, vol. 44, pp. 991–1008, May 2009.CrossRefzbMATHGoogle Scholar
  16. [16]
    F. Bourbonnais, P. Bigras, and I. A. Bonev, “Minimum-time trajectory planning and control of a pick-and-place five-bar parallel robot,” IEEE/ASME Trans. Mechatronics, vol. 20, no. 2, pp. 740–749, April 2015.CrossRefGoogle Scholar
  17. [17]
    A. Codourey, “Dynamic modeling of parallel robots for computed-torque control implementation,” Int. J. Robot,. Res., vol. 17, no. 12, pp. 1325–1336, December 1998.CrossRefGoogle Scholar
  18. [18]
    A. Shintemirov, A. Niyetkaliyev, and M. Rubagotti, “Numerical optimal control of a spherical parallel manipulator based on unique kinematic solutions,” IEEE/ASME Trans. Mechatronics, vol. 21, no. 1, pp. 98–109, February 2016.Google Scholar
  19. [19]
    L. Ren, J. K. Mills, and D. Sun, “Experimental comparison of control approaches on trajectory tracking control of a 3-DOF parallel robot,” IEEE Trans. Contr. Syst. T., vol. 15, no. 5, pp. 982–988, September 2007.CrossRefGoogle Scholar
  20. [20]
    P. Li, T. Gao, F. Xu, and L. Zhang, “Enhanced robust motion tracking control for 6 degree-of-freedom industrial assembly robot with disturbance adaption,” International Journal of Control, Automation and Systems, vol. 16, no. 2, pp. 921–928, April 2018.CrossRefGoogle Scholar
  21. [21]
    M. Lashin, M. Fanni, A. M. Mohamed, and T. Miyashita, “Dynamic modeling and inverse optimal PID with feedforward control in H∞ framework for a novel 3D pantograph manipulator,” International Journal of Control, Automation and Systems, vol. 16, no. 2, pp. 39–54, February 2018.CrossRefGoogle Scholar
  22. [22]
    H. Cheng, Y. K. Yiu, and Z. Li, “Dynamics and control of redundantly actuated parallel manipulators,” IEEE/ASME Trans. Mechatronics, vol. 8, no. 4, pp. 483–491, December 2003.CrossRefGoogle Scholar
  23. [23]
    Y. Zhang, S. Cong, W.-W. Shang, Z.-X. Li, and S.-L. Jiang, “Modeling, identification and control of a redundant planar 2-DOF parallel manipulator,” International Journal of Control, Automation and Systems, vol. 5, no. 5, pp. 559–569, October 2007.Google Scholar
  24. [24]
    D. Chakarov, “Study of the antagonistic stiffness of parallel manipulators with actuation redundancy,” Mech. Mach. Theory, vol. 39, no. 6, pp. 583–601, June 2004.CrossRefzbMATHGoogle Scholar
  25. [25]
    F. Marquet, O. Company, S. Krut, O. Gascuel, and F. Pierrot, “Control of a 3-DOF over-actuated parallel mechanism,” Proc. Int. Des. Eng. Tech. Conf. & Comp. Inf. Eng. Conf., Montreal, Quebec, Canada, pp. 1185–1191, Sep. 29–Oct. 2, 2002.Google Scholar
  26. [26]
    J. Wu, J. Wang, L. Wang, and T. Li, “Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy,” Mech. Mach. Theory, vol. 44, no. 4, pp. 835–849, April 2009.CrossRefzbMATHGoogle Scholar
  27. [27]
    A. Muller, “Stiffness control of redundantly actuated parallel manipulators,” Proc. of IEEE Int. Conf. Robot. Autom., Orlando, Florida, USA, pp. 1153–1158, May. 15–19, 2006.Google Scholar
  28. [28]
    C. Cheng, W. Xu, and J. Shang, “Distributed-torque-based independent joint tracking control of a redundantly actuated parallel robot with two higher kinematic pairs,” IEEE Trans. Ind. Electron., vol. 63, no. 2, pp. 1062–1070, February 2016.CrossRefGoogle Scholar
  29. [29]
    D. Chakarov, “Study of the antagonistic stiffness of parallel manipulators with actuation redundancy,” Mech. Mach. Theory, vol. 39, no. 6, pp. 583–601, June 2004.CrossRefzbMATHGoogle Scholar
  30. [30]
    S. J. Nelson, Wheeler’s Dental Anatomy Physiology and Occlusion, Elsevier Healthe Sciences, 2014.Google Scholar
  31. [31]
    H. Wen, W. Xu, and M. Cong, “Kinematic model and analysis of an actuation redundant parallel robot with higher kinematic pairs for jaw movement,” IEEE Trans. Ind. Electron., vol. 62, no. 3, pp. 1590–1598, March 2015.CrossRefGoogle Scholar
  32. [32]
    R. Mac, Ausland, “The Moore-Penrose Inverse and Least Squares,” Math 420: Advanced Topics in Linear Algebra, pp. 1–10, 2014.Google Scholar

Copyright information

© ICROS, KIEE and Springer 2019

Authors and Affiliations

  • Haiying Wen
    • 1
  • Ming Cong
    • 2
    Email author
  • Guifei Wang
    • 2
  • Wenlong Qin
    • 2
  • Weiliang Xu
    • 3
  • Zhisheng Zhang
    • 4
  1. 1.Southeast UniversityNanjingChina
  2. 2.School of Mechanical EngineeringDalian University of TechnologyDalianChina
  3. 3.Department of Mechanical Engineeringthe University of AucklandAucklandNew Zealand
  4. 4.School of Mechanical EngineeringSoutheast UniversityNanjingChina

Personalised recommendations