Skip to main content
SpringerLink
Log in

Variable structure control of high-speed parallel manipulator considering the mechatronics coupling model

  • Original Article
  • Published:
The International Journal of Advanced Manufacturing Technology Aims and scope Submit manuscript

Abstract

In this paper, a variable structure control strategy is adopted to improve position accuracy of Diamond 600k, a 2-Dof parallel manipulator. Firstly, mechanism and servomotor dynamics are developed in terms of the virtual work principle, while the mechantronics coupling model of the manipulator is formulated according to the equivalent torque. At this stage, the mass matrix of the mechanism is calculated individually to decouple the systematic model. This can effectively reduce the computational burden of the dynamic model in the real time control process. Then, various path-planning methods are compared with each other in order to explore which of them is more suitable to the high-speed manipulator. Last, results of the relevant experiments and simulations are presented from which it is easily can be seen that in comparison to conventional PID controller, the algorithm developed in this paper provides more reliable tracking performance.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

Reference

  1. Weck M, Staimer D (2002) Parallel kinematic machine tools - current states and future potentials. CIRP Ann 51(2):671–683

    Article  Google Scholar 

  2. Jovane F, Negri SP, Fassi I et al (2002) Design issue for reconfigurable PKMs. In: The 3rd Chemnitz Parallel Kinematics Seminar 1:17–47, Zwickau, Germany

  3. Dasgupta B, Mruthyunjaya TS (1998) A Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator. Mech Mach Theory 33(8):1135–1152

    MATH  MathSciNet  Google Scholar 

  4. Jain A, Rodriguez G (1995) Diagonalized Lagrangian robot dynamics. IEEE Trans Robot Autom 4(11):571–584

    Article  Google Scholar 

  5. Miller K, Experimental verification of modeling of DELTA robot dynamics by direct application of Hamilton’s principle, Proc. of IEEE International Conference on Robotics and Automation, Nagoya, Japan, 1995,1: 532~537

  6. Lee SH, Song JB (2003) Position control of a Stewart platform using inverse dynamics control with approximate dynamics. Mechatronics 13(6):605–619

    Article  Google Scholar 

  7. Tsai LW (2000) Solving the inverse dynamics of a Stewart-Gough manipulator by the principle of virtual work. ASME J Mech Des 122(1):3–9

    Article  Google Scholar 

  8. Yang Z, Huang T (2004) A new method for tuning PID parameters of a 3-DoF reconfigurable parallel kinematic machine, Proceeding of IEEE on Robotics and Auromation, : 2249~2254, New Orleans, Louisiana, U.S.A

  9. Guo LS, Zhang Q (2001) Adaptive trajectory control of a two DOF closed-chain robot, Proc. of the American Control Conference, Arlington, USA 1:658–663

    Google Scholar 

  10. Poignet P, Gautier M (2000) Nonlinear model predictive control of a robot manipulator. Proc. 6th International Workshop on Advanced Motion Control, Nagoya, Japan, 401–406

  11. Li S, Feng Z (2002) Variable structure control for 6-DOF parallel manipulators based on cascaded CMAC, Proceedings of the World Congress on Intelligent Control and Automation. 3:1939–1943, Shanghai, China

  12. Park MK, Lee C, Seok JG (2001) The design of sliding mode controller with perturbation observer for a 6- DOF parallel manipulator, Proceeding of IEEE International Conference on Robotics and Automation 3:1502–1507, Pusan, Korea

  13. Cheng XP, Patel RV (2003) Neural network based tracking control of a flexible macro-micro manipulator system. Neural Netw 16(2):271–286

    Article  Google Scholar 

  14. Wang H, Xue C, Gruver W (1995) Neural network control of parallel robot. IEEE Int Conf Robot Autom 3:2934–2938, Vancouver B C, Canada

    Google Scholar 

  15. Bekit BW, Seneviratne LD et al (1998) Fuzzy PID tuning for robot manipulators. IEEE Int Conf Robot Autom 4:2452–2457, Aachen, Germany

    Google Scholar 

  16. Heidar A, Dave M et al (1997) Fuzzy PID control of a flexible-joint robot arm with uncertainties from time-varying loads. IEEE Trans Control Syst Technol 5(3):371–378

    Article  Google Scholar 

  17. Hung JY, Gao WB, Hung JC (1993) Variable structure control: a survey. IEEE Trans Ind Electron 40(1):2–22

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. School of Mechanical Engineering, Tianjin University, Tianjin, 300072, People’s Republic of China

    Z. Y. Yang & T. Huang

  2. School of Mechanical, Aerospace and Civil Engineering, University of Manchester, Manchester, M60 1QD, UK

    Z. Y. Yang, X. Xu & J. E. Cooper

Authors
  1. Z. Y. Yang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. T. Huang
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. X. Xu
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. J. E. Cooper
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Z. Y. Yang.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Yang, Z.Y., Huang, T., Xu, X. et al. Variable structure control of high-speed parallel manipulator considering the mechatronics coupling model. Int J Adv Manuf Technol 34, 1037–1051 (2007). https://doi.org/10.1007/s00170-006-0661-9

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s00170-006-0661-9

Keywords

Search

Navigation