Abstract
Parallel kinematics robots are often used in high-speed pick and place applications, since their mechanical characteristics result in superior dynamic performance. Achievable speed and accelerations are also affected by the control algorithm, with centralized controllers typically leading to substantial improvements over decentralized ones. Several centralized control algorithms are therefore described in the literature, and often tested in simulation or through the execution of simple and slow movements. This article compares two centralized inverse dynamics motion control systems applied to a 5R parallel robot: one featuring integral contributions, the other characterized by sliding mode terms. The test trajectory is representative of a fast pick and place operation on two moving conveyor belts; the experimental findings concern, for the two regulators, the achieved errors, the overall control torques, and the several contributions to the control action. The results show that the integral regulator achieves overall smaller tracking errors, even though high-curvature portions of the test trajectory are better tracked using the Sliding Mode Control algorithm.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Yen, P.L., Lai, C.C.: Dynamic modeling and control of a 3-DOF cartesian parallel manipulator. Mechatronics 19(3), 390–398 (2009). https://doi.org/10.1016/j.mechatronics.2008.09.007
Coutinho, A.G., Hess-Coelho, T.A.: Improving the performance of parallel robots by applying distinct hybrid control techniques. Robotica 40, 951–975 (2022). https://doi.org/10.1017/S0263574721000874
Yu, H.: Modeling and control of hybrid machine systems-a five-bar mechanism case. Int. J. Autom. Comput. 3, 235–243 (2006). https://doi.org/10.1007/s11633-006-0235-1
Krishan, G., Singh, V.: Motion control of five bar linkage manipulator using conventional controllers under uncertain conditions. Int. J. Intell. Syst. Appl. 8(5), 34 (2016). https://doi.org/10.5815/ijisa.2016.05.05
Saied, H., Chemori, A., El Rafei, M., Francis, C., Pierrot, F.: From non-model-based to model-based control of PKMs: a comparative study. Mech. Mach. Sci. 58, 153–169 (2019). https://doi.org/10.1007/978-3-319-89911-4_12
Sancak, K.V., Bayraktaroglu, Z.Y.: Nonlinear computed torque control of 6-DOF parallel manipulators. Int. J. Control Autom. Syst. 20, 2297–2311 (2022). https://doi.org/10.1007/s12555-021-0198-6
Shang, W., Cong, S.: Nonlinear computed torque control for a high-speed planar parallel manipulator. Mechatronics 19, 987–992 (2009). https://doi.org/10.1016/j.mechatronics.2009.04.002
Le, T.D., Kang, H.J., Suh, Y.S., Ro, Y.S.: An online self-gain tuning method using neural networks for nonlinear PD computed torque controller of a 2-DOF parallel manipulator. Neurocomputing 116, 53–61 (2013). https://doi.org/10.1016/j.neucom.2012.01.047
Vu, M.T., et al.: Optimized fuzzy enhanced robust control design for a stewart parallel robot. Mathematics 10(11), 1917 (2022). https://doi.org/10.3390/math10111917
Tajdari, F., Ebrahimi Toulkani, N.: Implementation and intelligent gain tuning feedback-based optimal torque control of a rotary parallel robot. J. Vib. Control 28(19–20), 2678–2695 (2022). https://doi.org/10.1177/10775463211019177
Hu, H., et al.: Robust adaptive control of a bimanual 3T1R parallel robot with gray-box-model and prescribed performance function. IEEE/ASME Trans. Mechatron. 29(1), 466–475 (2024). https://doi.org/10.1109/TMECH.2023.3283507
Fontes, J.V.D.C., Colombo, F.T., Silva, N.B.F.D., Silva, M.M.D.: Model-based joint and task space control strategies for a kinematically redundant parallel manipulator. Robotica 40, 1570–1586 (2022). https://doi.org/10.1017/S0263574721001260
Li, P., Shu, T., Xie, W.F., Tian, W.: Dynamic visual servoing of a 6-RSS parallel robot based on optical CMM. J. Intell. Robot. Syst. 102(2), 40 (2021). https://doi.org/10.1007/s10846-021-01402-5
Rodríguez, E.Y., Mckinley, J.R., Ramírez, J.V.: Calculated torque control of a planar parallel robot 2-RR. J. Auton. Intell. 5, 72 (2022). https://doi.org/10.32629/jai.v5i1.508
Salas, F., Soto, I., Juarez, R., Ponce, I.U.: A finite-time nonlinear PID set-point controller for a parallel manipulator. In: Vergara Villegas, O.O., Nandayapa, M., Soto, I. (eds.) Advanced Topics on Computer Vision, Control and Robotics in Mechatronics, pp. 241–264. Springer, Cham (2018). https://doi.org/10.1007/978-3-319-77770-2_9
Righettini, P., Strada, R., Cortinovis, F., Tabaldi, F., Santinelli, J., Ginammi, A.: An experimental investigation of the dynamic performances of a high speed 4-DOF 5R parallel robot using inverse dynamics control. Robotics 13(3), 54 (2024). https://doi.org/10.3390/robotics13030054
Bourbonnais, F., Bigras, P., Bonev, I.A.: Minimum-time trajectory planning and control of a pick-and-place five-bar parallel robot. IEEE/ASME Trans. Mechatron. 20(2), 740–749 (2015). https://doi.org/10.1109/TMECH.2014.2318999
Liu, X.J., Wang, J., Pritschow, G.: Kinematics, singularity and workspace of planar 5R symmetrical parallel mechanisms. Mech. Mach. Theory 41(2), 145–169 (2006). https://doi.org/10.1016/j.mechmachtheory.2005.05.004
Righettini, P., Strada, R., Cortinovis, F.: Neural network mapping of industrial robots’ task times for real-time process optimization. Robotics 12(5), 143 (2023). https://doi.org/10.3390/robotics12050143
Siciliano, B., Sciavicco, L., Villani, L., Oriolo, G.: Robotics: Modelling, Planning and Control. Springer, London (2009). https://doi.org/10.1007/978-1-84628-642-1_12
Righettini, P., Strada, R., Cortinovis, F.: General procedure for servo-axis design in multi-degree-of-freedom machinery subject to mixed loads. Machines 10(6), 454 (2022). https://doi.org/10.3390/machines10060454
Righettini, P., Strada, R., Cortinovis, F.: Modal kinematic analysis of a parallel kinematic robot with low-stiffness transmissions. Robotics 10(4), 132 (2021). https://doi.org/10.3390/robotics10040132
Righettini, P., Strada, R., Zappa, B., Lorenzi, V.: Experimental set-up for the investigation of transmissions effects on the dynamic performances of a linear PKM. Mech. Mach. Sci. 73, 2511–2520 (2019). https://doi.org/10.1007/978-3-030-20131-9_248
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2024 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Righettini, P., Strada, R., Cortinovis, F. (2024). Experimental Evaluation of Centralized Control Strategies on a 5R Robot. In: Quaglia, G., Boschetti, G., Carbone, G. (eds) Advances in Italian Mechanism Science. IFToMM Italy 2024. Mechanisms and Machine Science, vol 163. Springer, Cham. https://doi.org/10.1007/978-3-031-64553-2_39
Download citation
DOI: https://doi.org/10.1007/978-3-031-64553-2_39
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-64552-5
Online ISBN: 978-3-031-64553-2
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)