Abstract
In this paper, a mechatronic model of a planar parallel manipulator is developed and experimentally validated. The model considers the dynamics of the actuators, as well as the PID control algorithm with position, velocity and current cascaded loops and their timing. As our main contributions, the dynamics of the manipulator have been solved using the principle of equivalent energy to split up the closed-loop mechanism, and the torque calculated is regarded as a disturbance on the actuators, avoiding solving the forward dynamic problem. Also, the dynamics of the actuators take into account the inertia and the friction parameters, which have been experimentally identified by means of a grey-box identification method. Several experiments have been carried out on a prototype, varying the motion profile, the velocity and acceleration, and the position control gain. The results show a reasonable correlation and provide the basis for further discussion.
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Acknowledgements
The authors of this paper wish to acknowledge the finance received from the Spanish Government via the Ministerio de Educacion y Ciencia (Project DPI2011-22955), the ERDF of the European Union, the Government of the Basque Country (Project GIC07/78, IT445-10), and the University of the Basque Country (Project EHUA13/30).
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Altuzarra, O., Campa, F.J., Roldan-Paraponiaris, C., Pinto, C. (2015). Experimental Validation of the Mechatronic Model of a Parallel Manipulator. In: Flores, P., Viadero, F. (eds) New Trends in Mechanism and Machine Science. Mechanisms and Machine Science, vol 24. Springer, Cham. https://doi.org/10.1007/978-3-319-09411-3_57
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DOI: https://doi.org/10.1007/978-3-319-09411-3_57
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