An Experimental Investigation of the Dynamic Performances of a High Speed 4-DOF 5R Parallel Robot Using Inverse Dynamics Control
High-speed pick-and-place industrial applications often use parallel kinematic robots due to their high stiffness and dynamic performance; furthermore, the latter not only depends on the mechanical characteristics of the robots but also on the control algorithm. The literature shows several theoreti...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-03-01
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| Series: | Robotics |
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| Online Access: | https://www.mdpi.com/2218-6581/13/3/54 |
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| author | Paolo Righettini Roberto Strada Filippo Cortinovis Federico Tabaldi Jasmine Santinelli Andrea Ginammi |
| author_facet | Paolo Righettini Roberto Strada Filippo Cortinovis Federico Tabaldi Jasmine Santinelli Andrea Ginammi |
| author_sort | Paolo Righettini |
| collection | DOAJ |
| description | High-speed pick-and-place industrial applications often use parallel kinematic robots due to their high stiffness and dynamic performance; furthermore, the latter not only depends on the mechanical characteristics of the robots but also on the control algorithm. The literature shows several theoretical contributions to such controllers, mainly tested at the simulation level or on simple proof-of-concept laboratory equipment that execute low-speed and simple trajectories. This paper presents an experimental investigation of the dynamic performance of an industrial high-speed 4-DOF 5R parallel robot designed for pick-and-place applications on moving objects. The inverse dynamics control in the task space is used as a control algorithm. The results show the contribution of all the components of the control algorithm to the motor torque, and the inverse dynamics controller performances are discussed also in comparison to those achievable with simpler PD or PID controllers in a joint space. Moreover, the paper shows the controller synthesis from a modern mechatronic point of view, and the effectiveness of the proposed solution for the tracking of complex high-speed trajectories in an industrial application. |
| first_indexed | 2024-04-24T17:50:19Z |
| format | Article |
| id | doaj.art-361472a790ca49978e489b312567a3ae |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-04-24T17:50:19Z |
| publishDate | 2024-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-361472a790ca49978e489b312567a3ae2024-03-27T14:03:11ZengMDPI AGRobotics2218-65812024-03-011335410.3390/robotics13030054An Experimental Investigation of the Dynamic Performances of a High Speed 4-DOF 5R Parallel Robot Using Inverse Dynamics ControlPaolo Righettini0Roberto Strada1Filippo Cortinovis2Federico Tabaldi3Jasmine Santinelli4Andrea Ginammi5Department of Engineering and Applied Sciences, University of Bergamo, 24044 Dalmine, ItalyDepartment of Engineering and Applied Sciences, University of Bergamo, 24044 Dalmine, ItalyDepartment of Engineering and Applied Sciences, University of Bergamo, 24044 Dalmine, ItalyDepartment of Engineering and Applied Sciences, University of Bergamo, 24044 Dalmine, ItalyDepartment of Engineering and Applied Sciences, University of Bergamo, 24044 Dalmine, ItalyMechatronics and Dynamic Devices s.r.l., 24044 Dalmine, ItalyHigh-speed pick-and-place industrial applications often use parallel kinematic robots due to their high stiffness and dynamic performance; furthermore, the latter not only depends on the mechanical characteristics of the robots but also on the control algorithm. The literature shows several theoretical contributions to such controllers, mainly tested at the simulation level or on simple proof-of-concept laboratory equipment that execute low-speed and simple trajectories. This paper presents an experimental investigation of the dynamic performance of an industrial high-speed 4-DOF 5R parallel robot designed for pick-and-place applications on moving objects. The inverse dynamics control in the task space is used as a control algorithm. The results show the contribution of all the components of the control algorithm to the motor torque, and the inverse dynamics controller performances are discussed also in comparison to those achievable with simpler PD or PID controllers in a joint space. Moreover, the paper shows the controller synthesis from a modern mechatronic point of view, and the effectiveness of the proposed solution for the tracking of complex high-speed trajectories in an industrial application.https://www.mdpi.com/2218-6581/13/3/54parallel robotdynamic modellinginverse dynamics controlhigh speed pick-and-placepick-and-place with moving pointsmechatronic design |
| spellingShingle | Paolo Righettini Roberto Strada Filippo Cortinovis Federico Tabaldi Jasmine Santinelli Andrea Ginammi An Experimental Investigation of the Dynamic Performances of a High Speed 4-DOF 5R Parallel Robot Using Inverse Dynamics Control Robotics parallel robot dynamic modelling inverse dynamics control high speed pick-and-place pick-and-place with moving points mechatronic design |
| title | An Experimental Investigation of the Dynamic Performances of a High Speed 4-DOF 5R Parallel Robot Using Inverse Dynamics Control |
| title_full | An Experimental Investigation of the Dynamic Performances of a High Speed 4-DOF 5R Parallel Robot Using Inverse Dynamics Control |
| title_fullStr | An Experimental Investigation of the Dynamic Performances of a High Speed 4-DOF 5R Parallel Robot Using Inverse Dynamics Control |
| title_full_unstemmed | An Experimental Investigation of the Dynamic Performances of a High Speed 4-DOF 5R Parallel Robot Using Inverse Dynamics Control |
| title_short | An Experimental Investigation of the Dynamic Performances of a High Speed 4-DOF 5R Parallel Robot Using Inverse Dynamics Control |
| title_sort | experimental investigation of the dynamic performances of a high speed 4 dof 5r parallel robot using inverse dynamics control |
| topic | parallel robot dynamic modelling inverse dynamics control high speed pick-and-place pick-and-place with moving points mechatronic design |
| url | https://www.mdpi.com/2218-6581/13/3/54 |
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