Robust sliding mode control of redundantly actuated parallel mechanisms with respect to geometric imperfections

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• 作者：F. Procházka ; M. Valášek ; Z. Šika
• 关键词：Parallel kinematics ; Fiber ; driven mechanism ; Redundant actuation ; Sliding mode control ; Antibacklash control ; Model uncertainties
• 刊名：Multibody System Dynamics
• 出版年：2016
• 出版时间：March 2016
• 年：2016
• 卷：36
• 期：3
• 页码：221-236
• 全文大小：1,830 KB
• 参考文献：1. Neugebauer, R. (ed.): Development Methods and Application Experience of Parallel Kinematics, PKS 2002. IWU FhG, Chemnitz (2002)
  2. Müller, A.: Modeling and control of redundantly actuated parallel manipulators. Fortschritt-Berichte VDI: Reihe 18, Mechanik, Bruchmechanik, vol. 337, X, 114 pp. VDI-Verl, Düsseldorf (2013). ISBN: 978-3-18-333718-7
  3. Valášek, M., Bauma, V., Šika, Z., Vampola, T.: Redundantly actuated parallel structures—principle, examples, advantages. In: Development Methods and Application Experience of Parallel Kinematics, Zwickau, pp. 993–1010 (2002)
  4. Zhang, Y., Gong, J., Gao, F.: Singularity elimination of parallel mechanisms by means of redundant actuation. In: 12th IFToMM World Congress, Besancon, France, June 18–21 (2007)
  5. Zlatanov, D., Fenton, R.G., Benhabib, B.: Identification and classification of the singular configurations of mechanisms. Mech. Mach. Theory 33(6), 743–760 (1998) MathSciNet CrossRef MATH
  6. Valášek, M., Šika, Z.: Evaluation of dynamic capabilities of machines and robots. Multibody Syst. Dyn. 6(2), 183–202 (2001) MathSciNet CrossRef MATH
  7. Müller, A., Maisser, P.: Generation and application of prestress in redundantly and full-actuated parallel manipulators. Multibody Syst. Dyn. 18, 259–275 (2007) MathSciNet CrossRef MATH
  8. Chakarov, D.: Study of the antagonistic stiffness of parallel mechanism with actuation redundancy. Mech. Mach. Theory 39, 583–601 (2004) CrossRef MATH
  9. Florián, M., Valášek, M.: Efficient computation of antibacklash space for redundant PKM. In: Proc. of Interactions and Feedbacks, IT CAS 2006, Praha, pp. 13–20 (2006)
  10. Svatoš, P., Šika, Z., Valášek, M., Bauma, V., Polach, P.: Optimization of anti-backlash fibre driven parallel kinematical structures. Bull. Appl. Mech. 8(31), 40–44 (2012)
  11. Müller, A.: Consequences of geometric imperfection for the control of redundantly actuated manipulators. IEEE Trans. Robot. Autom. 26(1), 21–31 (2010) CrossRef
  12. Cheng, H., Yiu, Y.-K., Li, Z.: Dynamics and control of redundantly actuated parallel manipulators. IEEE/ASME Trans. Mechatron. 8(4), 483–491 (2003) CrossRef
  13. Belda, K., Böhm, J., Valášek, M.: State-space generalized predictive control for redundant parallel robots, in virtual nonlinear multibody system. Mech. Based Des. Struct. Mach. 31(3), 413–432 (2003) CrossRef
  14. Stejskal, V., Valášek, M.: Kinematics and Dynamics of Machinery. Dekker, New York (1996) MATH
  15. Müller, A.: A robust inverse dynamics formulation for redundantly actuated PKM. In: Proc. 13th World Congress in Mechanism and Machine Science, Guanajuato, Mexico, 19–25 June (2011)
  16. Müller, A., Hufnagel, T.: Model-based control of redundantly actuated parallel manipulators in redundant coordinates. Robot. Auton. Syst. 60, 563–571 (2012) CrossRef
  17. Xu, R., Özgüner, U.: Sliding mode control of class of underactuated systems. Automatica 44, 233–244 (2008) MathSciNet CrossRef MATH
  18. Gracia, L., Garelli, F., Sala, A.: Integrated sliding-mode algorithms in robot tracking applications. Robot. Comput.-Integr. Manuf. 29, 53–62 (2013) CrossRef
  19. Falahpoor, M., Ataei, M., Kiyoumarsi, A.: A chattering-free sliding mode control design for uncertain chaotic system. Chaos Solitons Fractals 42, 1755–1765 (2009) CrossRef MATH
  20. Olgac, N., Elmali, H.: A novel robust control strategy for nonlinear systems with variable structure. In: Proc. of IFToMM World Congress, Praha (1991)
  21. Slotine, J.J.E., Li, W.: Applied Nonlinear Control. Prentice-Hall, New Jersey (1991) MATH
  
• 作者单位：F. Procházka
  M. Valášek
  Z. Šika (1)
  
  1. Prague, Czech Republic
  
• 刊物类别：Engineering
• 刊物主题：Vibration, Dynamical Systems and Control
  Optimization
  Electronic and Computer Engineering
  Mechanical Engineering
  Automotive and Aerospace Engineering and Traffic
  
• 出版者：Springer Netherlands
• ISSN：1573-272X

文摘

The paper deals with the modeling and control of redundantly actuated parallel mechanisms. The redundant actuation means the redundant number of actuators, that is, more actuators than degrees of freedom of the mechanism. These machines bring the possibility of removing the backlash by the so-called antibacklash control. However, control of such a structure suffers from several new control problems like the danger of mutual fighting of the redundant actuators. This is especially problematic if the geometric imperfections appear. The presented solution is based on the usage of robust sliding mode control for uncertain dynamics. The paper explains classic approach of sliding mode control and its new modification based on the uniform usage of all actuators replaced by the fictitious auxiliary drives. The verification of the proposed algorithms is presented by two planar mechanisms with four actuators and three degrees of freedom. The first one is the fiber-driven mechanism, and the second one is the rigid 4RRR mechanism “Crosshead.”

Keywords Parallel kinematics Fiber-driven mechanism Redundant actuation Sliding mode control Antibacklash control Model uncertainties Page %P Close Plain text Look Inside Reference tools Export citation EndNote (.ENW) JabRef (.BIB) Mendeley (.BIB) Papers (.RIS) Zotero (.RIS) BibTeX (.BIB) Add to Papers Other actions Register for Journal Updates About This Journal Reprints and Permissions Share Share this content on Facebook Share this content on Twitter Share this content on LinkedIn Related Content Supplementary Material (0) References (21) References1. Neugebauer, R. (ed.): Development Methods and Application Experience of Parallel Kinematics, PKS 2002. IWU FhG, Chemnitz (2002) 2. Müller, A.: Modeling and control of redundantly actuated parallel manipulators. Fortschritt-Berichte VDI: Reihe 18, Mechanik, Bruchmechanik, vol. 337, X, 114 pp. VDI-Verl, Düsseldorf (2013). ISBN: 978-3-18-333718-7 3. Valášek, M., Bauma, V., Šika, Z., Vampola, T.: Redundantly actuated parallel structures—principle, examples, advantages. In: Development Methods and Application Experience of Parallel Kinematics, Zwickau, pp. 993–1010 (2002) 4. Zhang, Y., Gong, J., Gao, F.: Singularity elimination of parallel mechanisms by means of redundant actuation. In: 12th IFToMM World Congress, Besancon, France, June 18–21 (2007) 5. Zlatanov, D., Fenton, R.G., Benhabib, B.: Identification and classification of the singular configurations of mechanisms. Mech. Mach. Theory 33(6), 743–760 (1998) MathSciNetCrossRefMATH6. Valášek, M., Šika, Z.: Evaluation of dynamic capabilities of machines and robots. Multibody Syst. Dyn. 6(2), 183–202 (2001) MathSciNetCrossRefMATH7. Müller, A., Maisser, P.: Generation and application of prestress in redundantly and full-actuated parallel manipulators. Multibody Syst. Dyn. 18, 259–275 (2007) MathSciNetCrossRefMATH8. Chakarov, D.: Study of the antagonistic stiffness of parallel mechanism with actuation redundancy. Mech. Mach. Theory 39, 583–601 (2004) CrossRefMATH9. Florián, M., Valášek, M.: Efficient computation of antibacklash space for redundant PKM. In: Proc. of Interactions and Feedbacks, IT CAS 2006, Praha, pp. 13–20 (2006) 10. Svatoš, P., Šika, Z., Valášek, M., Bauma, V., Polach, P.: Optimization of anti-backlash fibre driven parallel kinematical structures. Bull. Appl. Mech. 8(31), 40–44 (2012) 11. Müller, A.: Consequences of geometric imperfection for the control of redundantly actuated manipulators. IEEE Trans. Robot. Autom. 26(1), 21–31 (2010) CrossRef12. Cheng, H., Yiu, Y.-K., Li, Z.: Dynamics and control of redundantly actuated parallel manipulators. IEEE/ASME Trans. Mechatron. 8(4), 483–491 (2003) CrossRef13. Belda, K., Böhm, J., Valášek, M.: State-space generalized predictive control for redundant parallel robots, in virtual nonlinear multibody system. Mech. Based Des. Struct. Mach. 31(3), 413–432 (2003) CrossRef14. Stejskal, V., Valášek, M.: Kinematics and Dynamics of Machinery. Dekker, New York (1996) MATH15. Müller, A.: A robust inverse dynamics formulation for redundantly actuated PKM. In: Proc. 13th World Congress in Mechanism and Machine Science, Guanajuato, Mexico, 19–25 June (2011) 16. Müller, A., Hufnagel, T.: Model-based control of redundantly actuated parallel manipulators in redundant coordinates. Robot. Auton. Syst. 60, 563–571 (2012) CrossRef17. Xu, R., Özgüner, U.: Sliding mode control of class of underactuated systems. Automatica 44, 233–244 (2008) MathSciNetCrossRefMATH18. Gracia, L., Garelli, F., Sala, A.: Integrated sliding-mode algorithms in robot tracking applications. Robot. Comput.-Integr. Manuf. 29, 53–62 (2013) CrossRef19. Falahpoor, M., Ataei, M., Kiyoumarsi, A.: A chattering-free sliding mode control design for uncertain chaotic system. Chaos Solitons Fractals 42, 1755–1765 (2009) CrossRefMATH20. Olgac, N., Elmali, H.: A novel robust control strategy for nonlinear systems with variable structure. In: Proc. of IFToMM World Congress, Praha (1991) 21. Slotine, J.J.E., Li, W.: Applied Nonlinear Control. Prentice-Hall, New Jersey (1991) MATH About this Article Title Robust sliding mode control of redundantly actuated parallel mechanisms with respect to geometric imperfections Journal Multibody System Dynamics Volume 36, Issue 3 , pp 221-236 Cover Date2016-03 DOI 10.1007/s11044-015-9481-8 Print ISSN 1384-5640 Online ISSN 1573-272X Publisher Springer Netherlands Additional Links Register for Journal Updates Editorial Board About This Journal Manuscript Submission Topics Vibration, Dynamical Systems, Control Optimization Electrical Engineering Mechanical Engineering Automotive Engineering Keywords Parallel kinematics Fiber-driven mechanism Redundant actuation Sliding mode control Antibacklash control Model uncertainties Industry Sectors Automotive Electronics IT & Software Telecommunications Consumer Packaged Goods Aerospace Oil, Gas & Geosciences Engineering Authors F. Procházka M. Valášek Z. Šika (1) Author Affiliations 1. Prague, Czech Republic Continue reading... 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