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Dynamic Modeling and Control of a Novel Parallel Manipulator Using Supervisory Approach

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Machine Vision and Mechatronics in Practice

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Abstract

The new structure of spatial parallel robots from Delta robots family is elaborated in this research. The proposed novel mechanism like ordinary Delta parallel mechanism has three degrees of pure translational freedom, but the position of robot’s three active joints relative to each other is one difference between this mechanism and Delta parallel mechanism, which has caused the change in geometry of platforms, and it shapes the asymmetrical structure in the robot mechanism and its workspace. Another difference arises from an architectural optimization methodology by consideration of mixed performance index which has utilized in this mechanism for reaching a better compromise between the dexterity of manipulator and its workspace volume. Inverse dynamic modeling is performed based on Lagrange formulation. The PD and PID controllers of Computed Torque method (C-T) usually need manual retuning to make a successful industrial application, particularly in the presence of disturbance. In the present paper, we study feasibility of applying fuzzy supervisory control for PD and PID used in C-T method. Numerous computer simulations demonstrate the effectiveness of proposed control method in comparison with ordinary C-T method.

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Author information

Authors and Affiliations

  1. Dept. of Electrical, Computer and Biomedical Eng., Qazvin Branch, Islamic Azad University, Qazvin, Iran

    Mohsen Asgari

  2. Dept. of Electrical & Computer Eng., Qom University of Technology, Qom, Iran

    Mahdi Alinaghizadeh Ardestani

Authors
  1. Mohsen Asgari
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  2. Mahdi Alinaghizadeh Ardestani
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Corresponding author

Correspondence to Mohsen Asgari .

Editor information

Editors and Affiliations

  1. Faculty of Health, Engineering and Science, University of Southern Queensland, Toowoomba, Queensland, Australia

    John Billingsley

  2. Brunel Institute for Bioengineering Brunel University, London, United Kingdom

    Peter Brett

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Asgari, M., Ardestani, M.A. (2015). Dynamic Modeling and Control of a Novel Parallel Manipulator Using Supervisory Approach. In: Billingsley, J., Brett, P. (eds) Machine Vision and Mechatronics in Practice. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-45514-2_13

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  • DOI: https://doi.org/10.1007/978-3-662-45514-2_13

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-662-45513-5

  • Online ISBN: 978-3-662-45514-2

  • eBook Packages: EngineeringEngineering (R0)

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