Abstract
In this chapter, we present a machining device, named ARROW robot, designed with the architecture of a redundant parallel manipulator capable of executing five degrees-of-freedom in a large workspace. Machine-tools based on parallel robot development are considered a key technology of machining industries due to their favourable features such as high rigidity, good precision, high payload-to-weight ratio and high swiftness. The mechanism of ARROW robot isolates its workspace from any type of inside singularities allowing it to be more flexible and dynamic. An improved PID with computed feedforward controller is implemented on ARROW robot to perform real-time experiments of a machining task. The control system deals with antagonistic internal forces caused by redundancy through a regularization method, and achieves a stability conservation in case of actuators saturation. The results are evaluated using the root mean square error criteria over all the tracking trajectory confirming the high accuracy and good performance of ARROW robot in machining operations.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Notes
- 1.
ARROW project: a national french research project financed by the National Research Agency (ANR). Its main objectives can be summarized in the design of Accurate and Rapid Robots with large Operational Workspace, from which the acronym “ARROW” has been derived. The project embraces three partners: IRCCyN (Institut de Recherche en Communication et Cybernétique de Nantes), LIRMM (Laboratory of Informatics, Robotics and Microelectroncs of Montpellier) and Tecnalia France.
- 2.
“T” corresponds to translational motion and “R” corresponds to rotational motion.
- 3.
Columns of J m.
- 4.
Rows of J m.
References
Bennehar, M., Chemori, A., & Pierrot, F. (2014a). A new extension of desired compensation adaptive control and its real-time application to redundantly actuated PKMs. In Intelligent Robots and Systems (IROS), Chicago, IL, USA.
Bennehar, M., Chemori, A., & Pierrot, F. (2014b). A novel RISE-based adaptive feedforward controller for redundantly actuated parallel manipulators. In Intelligent Robots and Systems (IROS), Chicago, IL, USA.
Bennehar, M., Chemori, A., Pierrot, F., & Creuze, V. (2015). Extended model-based feedforward compensation in L1 adaptive control for mechanical manipulators: Design and experiments. Frontiers in Robotics and AI, 2, 32.
Bruzzone, L., Molfino, R., & Razzoli, R. (2002). Modelling and design of a parallel robot for lasercutting applications. In International Conference on Modeling, Identification and Control (IASTED’02), Innsbruck, Austria (pp. 518–522).
Codourey, A., Honegger, M., & Burdet, E. (1997). A body-oriented method for dynamic modeling and adaptive control of fully parallel robots. In 5th Symposium Robot Control (pp. 443–450).
Davim, J. P. (2008). Machining: Fundamentals and recent advances. London: Springer Science & Business Media.
eFunda. (2018). Machining: An introduction. In: eFunda, processes, machining. Available via DIALOG. http://www.efunda.com/processes/machining/
Grange, S., Conti, F., & Rouiller, P. (2001). Overview of the delta haptic device. Eurohaptics, 1, 5–7.
Kerbrat, O., Mognol, P., & Hascoët, J. Y. (2011). A new DFM approach to combine machining and additive manufacturing. Computers in Industry, 62(7), 684–692.
Kucuk, S. (2012). Serial and parallel robot manipulators – Kinematics, dynamics, control and optimization. Croatia: Intech.
Kumar, S., & Negi, R. (2012). A new DFM approach to combine machining and additive manufacturing. In 2nd International Conference on Power, Control and Embedded Systems.
Li, Y., & Xu, Q. (2007). Design and development of a medical parallel robot for cardiopulmonary resuscitation. IEEE/ASME Transaction on Mechatronics, 12(3), 265–273.
Liégeois, A., Fournier, A., & Aldon, M. J. (1980). Model reference control of high-velocity industrial robots. In Joint Automatic Control Conference, San Francisco.
Merlet, J. P. (2006). Introduction (chapter 1). Structural synthesis and architectures (chapter 2). In Gladwell, G. (Ed.), Parallel robots (Solid mechanics and its applications, 2nd ed.). The Netherlands: Springer.
Muller, A. (2009). Effects of geometric imperfections to the control of redundantly actuated parallel manipulators. In IEEE International Conference on Robotics and Automation (ICRA’09) (pp. 1782–1787).
Muller, A., & Hufnagel, T. (2011) A projection method for the elimination of contradicting control forces in redundantly actuated PKM. In IEEE International Conference on Robotics and Automation (ICRA’11) (pp. 3218–3223).
Natal, G. S., Chemori, A., & Pierrot, F. (2012). Dual-space adaptive control of redundantly actuated parallel manipulators for extremely fast operations with load changes. In IEEE International Conference on Robotics and Automation (ICRA), Saint Paul, MN, USA.
Natal, G. S., Chemori, A., & Pierrot, F. (2015). Dual-space control of extremely fast parallel manipulators: Payload changes and the 100G experiment. IEEE Transaction on Control Systems Technology, 23(4), 1520–1535.
Reyes, F., & Kelly, R. (2001). Experimental evaluation of model-based controllers on a direct-drive robot arm. Mechatronics, 11, 267–282.
Santibanez, V., & Kelly, R. (2000). PD control with feedforward compensation for robot manipulators: Analysis and experimentation. Robotica, 19, 11–19. Cambridge University Press.
Shayya, S. (2015). Towards rapid and precise parallel kinematic machines. Ph.D. thesis, Université Montpellier (Ex UM2).
Shayya, S., Krut, S., & Company, O. (2014). Dimensional synthesis of 4 dofs (3t-1r) actuatedly redundant parallel manipulator based on dual criteria: Dynamics and precision. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’14) (pp. 1716–1723).
Shoham, M., Burman, M., & Zehavi, E. (2003). Bone-mounted miniature robot for surgical procedures: Concept and clinical applications. IEEE Transaction on Robotics and Automation, 19(5), 893–901.
Stewart, D. (1965). A platform with six degrees of freedom. Proceedings of the Institution of Mechanical Engineers, 180, 371–386. ARCHIVE.
Su, Y., Duan, B., & Zheng, C. (2004). Nonlinear pid control of a six-dof parallel manipulator. IEEE Proceedings-Control Theory and Applications, 151, 95–102.
Yang, H. (2012). Agile mobile manufacturing for large workpieces. Ph.D. thesis, Université Montpellier.
Youssef, H. A., & El-Hofy, H. (2008). Machining technology: Machine tools and operations. Boca Raton: Taylor & Francis.
Zhang, Y. X., Cong, S., & Shang, W. W. (2007). Modeling, identification and control of a redundant planar 2-dof parallel manipulator. International Journal of Control, Automation and Systems, 5, 559–569.
Ziegler, J., & Nichols, N. (1942). Optimum settings for automatic controllers. Transaction of the American Society of Mechanical Engineer, 64, 759–768.
Acknowledgements
This work has been supported by the ARPE ARROW project.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Singapore Pte Ltd.
About this chapter
Cite this chapter
Saied, H., Chemori, A., Michelin, M., El-Rafei, M., Francis, C., Pierrot, F. (2019). A Redundant Parallel Robotic Machining Tool: Design, Control and Real-Time Experiments. In: Derbel, N., Ghommam, J., Zhu, Q. (eds) New Developments and Advances in Robot Control. Studies in Systems, Decision and Control, vol 175. Springer, Singapore. https://doi.org/10.1007/978-981-13-2212-9_3
Download citation
DOI: https://doi.org/10.1007/978-981-13-2212-9_3
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-13-2211-2
Online ISBN: 978-981-13-2212-9
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)