Dynamics and iterative learning control of robots with parallel kinematical structures / Bodo Heimann and Houssem Abdellatif

Heimann, Bodo and Abdellatif, Houssem (2009) Dynamics and iterative learning control of robots with parallel kinematical structures / Bodo Heimann and Houssem Abdellatif. Journal of Mechanical Engineering (JMechE), 6 (1). pp. 43-65. ISSN 1823-5514 ; 2550-164X

Abstract

The paper deals with model-based control of robots with parallel kinematical structure (PKM). At first, an approach for the identification of friction and rigid-body dynamics of complex parallel kinematical structures is presented. The approach is based on optimal excitation trajectories. The trajectories are bounded, such they are easy to befit into the small and hard constraint workspace of PKM. Secondly, some results are presented using feedforward control in order to compensate nonlinear dynamical influences. Thirdly, Iterative Learning Control (ILC) is proposed in this paper for tracking accuracy enhancement of a parallel direct driven manipulator. It is shown both by means of simulation study and experimental results that linear ILC is appropriate for application to the considered high nonlinear and coupled systems.

Metadata

Item Type: Article
Creators:
Creators
Email / ID Num.
Heimann, Bodo
UNSPECIFIED
Abdellatif, Houssem
UNSPECIFIED
Divisions: Universiti Teknologi MARA, Shah Alam > Faculty of Mechanical Engineering
Journal or Publication Title: Journal of Mechanical Engineering (JMechE)
UiTM Journal Collections: UiTM Journal > Journal of Mechanical Engineering (JMechE)
ISSN: 1823-5514 ; 2550-164X
Volume: 6
Number: 1
Page Range: pp. 43-65
Keywords: Robots; Kinematical structures
Date: 2009
URI: https://ir.uitm.edu.my/id/eprint/17620
Edit Item
Edit Item

Download

[thumbnail of AJ_BODO HEIMANN JME 09.pdf] Text
AJ_BODO HEIMANN JME 09.pdf

Download (0B)

ID Number

17620

Indexing

|

Statistic

Statistic details