Modal decoupled dynamics feed-forward active force control of spatial multi-DOF parallel robotic manipulator

DOI10.1155/2019/1835308MaRDI QIDQ2298131zbMATH OpenOpenAlexFDO

Authors Xinjian Niu, Chifu Yang, Bowen Tian, Xiang Li, Jun-Wei Han

Publication date 20 February 2020

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2019/1835308

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60) Automated systems (robots, etc.) in control theory (93C85)

Review text

Summary: According to the parallel mechanism theory, this paper proposes a novel intelligent robotic spine brace for the treatment of scoliosis. Nevertheless, this type of parallel mechanism has the following disadvantages: strong dynamic coupling in task space or joint space, adverse effect of system's gravity, and lower response frequency in roll and pitch orientations, which seriously affect the performance of the system. In order to solve those boring problems, this paper presents a novel active force control structure, modal space dynamic feed-forward (MSDF) force control strategy. Besides, this paper expresses the intelligent robotic brace system model including the dynamic and kinematic models and the electric actuator model with Kane strategy. The stability of the intelligent system with the novel control strategy is proved. In order to evaluate the performance of the presented MSDF force control method, this paper builds the parallel mechanism experimental platform. It can be seen from experimental results that the proposed motion control method solves these boring problems well.

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Cites work

• Intelligent active force control of a 3-RRR parallel manipulator incorporating fuzzy resolved acceleration control
• Modified transpose Jacobian control of robotic systems
• PD control with gravity compensation for hydraulic 6-DOF parallel manipulator

Cited in

(3)

• Load parameter identification for parallel robot manipulator based on extended Kalman filter
• The robotic lumbar spine: dynamics and feedback linearization control
• Framework for implementing and investigating sensorless force control for collaborative manipulation using parallel robots

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