Coupling Compensation of 6-DOF Parallel Robot Based on Screw Theory
In order to improve control performance and eliminate steady, a coupling compensation for 6-DOF parallel robot is presented. Taking dynamic load Tank Simulator as the research object, this paper analyzes the coupling of 6-DOC parallel robot considering the degree of freedom of the 6-DOF parallel manipulator. The coupling angle and coupling velocity are derived based on inverse kinematics model. It uses the mechanism-model combined method which takes practical moving track that considering the performance of motion controller and motor as its input to make the study. Experimental results show that the coupling compensation improves motion stability as well as accuracy. Besides, it decreases the dither amplitude of dynamic load Tank Simulator.
[1] D. Stewart, "A platform with six degrees of freedom," in Proceeding of
Institute of Mechanical Engineering, London, 1965, pp. 371-386.
[2] Q. T. Huang, H. Z. Jiang, S. Y. Zhang, "Spacecraft docking simulation
using hardware-in-the-loop simulator with Stewart platform," Journal of
Mechanical Engineering, vol 18, no. 3, pp. 415-418, Sep. 2005.
[3] H. Q. Yang, K. D. Zhao, S. L. Wu, J. Cao, "Key technologies and
developing state of 6-DOF motion system for Flight Simulator," Journal
of System Simulation, vol 14, no. 1, pp. 84-87, Jan. 2002.
[4] H. Abdellatif, B. Heimann, "On compensation of passive joint friction in
robotic manipulators: modeling, detection and identification," in
Proceedings of the IEEE International Conference on Control
Applications, Munich, 2006, pp. 2510-2515.
[5] H. Abdellatif, M. Grotjahn, B. Heimann, "Independent identification of
friction characteristics for parallel manipulators", Journal of Dynamic
Systems, Measurement and Control, Transactions of the ASME, vol 129,
no. 3, pp. 294-302, May 2007.
[6] Z. Meng, R. S. Che, Q. C. Huang, Z. J. Yu, "The
direct-error-compensation method of measuring the error of a
six-freedom-degree parallel mechanism CMM," Journal of Materials
Processing Technology, vol 129, no.1-3, pp. 574-578, Oct.2002.
[7] C. F. Yang, Q. T. Huang, H. Z. Jiang, P. O. Ogbobe, J. W. Han, " PD
control with gravity compensation for hydraulic 6-DOF parallel
manipulator," Mechanism and Machine Theory, vol 45, no. 4, pp. 666-677,
Apr. 2010.
[8] C. Kevin, A. Tatsuo, "A prototype parallel manipulator: kinematics,
construction, software, workspace results, and singularity analysis,"
Proceedings-IEEE International Conference on Robotics and Automation,
Sacramento, 1991, pp. 566-571.
[9] W. Wang, H. B. Xie, X. Fu, H. Y. Yang, "Coupling characteristics of large
hydraulic Stewart Platform," Journal of Mechanical Engineering, vol 43,
no. 9, pp. 12-15, Sep. 2007.
[10] Q. Li, X. Y. Wang, J. Cheng, "Interference force compensation of Stewart
Platform based on inverse dynamic model," Journal of Mechanical
Engineering, vol 45, no.1, pp. 14-19, Jan. 2009.
[11] J. M. Ma, J. F. He, H. G. Xiong, J. W. Han, "Simulation of coupling
characteristic of hydraulically driven Stewart Platform based On
dynamics model," Proceedings-2008 International Workshop on
Modeling, Simulation and Optimization, WMSO 2008, pp. 88-92, 2009,
Proceedings - 2008 International Workshop on Modeling, Simulation
and Optimization, WMSO 2008.
[12] S. Iqbal, A. I. Bhatti, Q. Ahmed, "Determination of realistic uncertainty
bounds for the Stewart Platform with payload dynamics," Proceedings of
the IEEE International Conference on Control Applications, pp.
995-1000,2008, 17th IEEE International Conference on Control
Applications, CCA.
[13] S. Liu, W. L. Li, Y. C. Du, J. Song, "Dynamic simulation of submarine
Stewart platform," Journal of Harbin Institute of Technology, vol 41, no.9,
pp. 249-255, Sep. 2009.
[1] D. Stewart, "A platform with six degrees of freedom," in Proceeding of
Institute of Mechanical Engineering, London, 1965, pp. 371-386.
[2] Q. T. Huang, H. Z. Jiang, S. Y. Zhang, "Spacecraft docking simulation
using hardware-in-the-loop simulator with Stewart platform," Journal of
Mechanical Engineering, vol 18, no. 3, pp. 415-418, Sep. 2005.
[3] H. Q. Yang, K. D. Zhao, S. L. Wu, J. Cao, "Key technologies and
developing state of 6-DOF motion system for Flight Simulator," Journal
of System Simulation, vol 14, no. 1, pp. 84-87, Jan. 2002.
[4] H. Abdellatif, B. Heimann, "On compensation of passive joint friction in
robotic manipulators: modeling, detection and identification," in
Proceedings of the IEEE International Conference on Control
Applications, Munich, 2006, pp. 2510-2515.
[5] H. Abdellatif, M. Grotjahn, B. Heimann, "Independent identification of
friction characteristics for parallel manipulators", Journal of Dynamic
Systems, Measurement and Control, Transactions of the ASME, vol 129,
no. 3, pp. 294-302, May 2007.
[6] Z. Meng, R. S. Che, Q. C. Huang, Z. J. Yu, "The
direct-error-compensation method of measuring the error of a
six-freedom-degree parallel mechanism CMM," Journal of Materials
Processing Technology, vol 129, no.1-3, pp. 574-578, Oct.2002.
[7] C. F. Yang, Q. T. Huang, H. Z. Jiang, P. O. Ogbobe, J. W. Han, " PD
control with gravity compensation for hydraulic 6-DOF parallel
manipulator," Mechanism and Machine Theory, vol 45, no. 4, pp. 666-677,
Apr. 2010.
[8] C. Kevin, A. Tatsuo, "A prototype parallel manipulator: kinematics,
construction, software, workspace results, and singularity analysis,"
Proceedings-IEEE International Conference on Robotics and Automation,
Sacramento, 1991, pp. 566-571.
[9] W. Wang, H. B. Xie, X. Fu, H. Y. Yang, "Coupling characteristics of large
hydraulic Stewart Platform," Journal of Mechanical Engineering, vol 43,
no. 9, pp. 12-15, Sep. 2007.
[10] Q. Li, X. Y. Wang, J. Cheng, "Interference force compensation of Stewart
Platform based on inverse dynamic model," Journal of Mechanical
Engineering, vol 45, no.1, pp. 14-19, Jan. 2009.
[11] J. M. Ma, J. F. He, H. G. Xiong, J. W. Han, "Simulation of coupling
characteristic of hydraulically driven Stewart Platform based On
dynamics model," Proceedings-2008 International Workshop on
Modeling, Simulation and Optimization, WMSO 2008, pp. 88-92, 2009,
Proceedings - 2008 International Workshop on Modeling, Simulation
and Optimization, WMSO 2008.
[12] S. Iqbal, A. I. Bhatti, Q. Ahmed, "Determination of realistic uncertainty
bounds for the Stewart Platform with payload dynamics," Proceedings of
the IEEE International Conference on Control Applications, pp.
995-1000,2008, 17th IEEE International Conference on Control
Applications, CCA.
[13] S. Liu, W. L. Li, Y. C. Du, J. Song, "Dynamic simulation of submarine
Stewart platform," Journal of Harbin Institute of Technology, vol 41, no.9,
pp. 249-255, Sep. 2009.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:52166", author = "Ming Cong and Yinghua Wu and Dong Liu and Haiying Wen and Junfa Yu", title = "Coupling Compensation of 6-DOF Parallel Robot Based on Screw Theory", abstract = "In order to improve control performance and eliminate steady, a coupling compensation for 6-DOF parallel robot is presented. Taking dynamic load Tank Simulator as the research object, this paper analyzes the coupling of 6-DOC parallel robot considering the degree of freedom of the 6-DOF parallel manipulator. The coupling angle and coupling velocity are derived based on inverse kinematics model. It uses the mechanism-model combined method which takes practical moving track that considering the performance of motion controller and motor as its input to make the study. Experimental results show that the coupling compensation improves motion stability as well as accuracy. Besides, it decreases the dither amplitude of dynamic load Tank Simulator.
", keywords = "coupling compensation, screw theory, parallel robot, mechanism-model combined motion", volume = "4", number = "12", pages = "1360-6", }
