Application of the design for control approach for the integrated design and control of parallel robots
To effectively control a complex mechanical structure for precise performance, a model-based type of controller is usually desired. In cases of controlling parallel robots, however, the iterative computation due to the complexity of the dynamic models can result in difficulties in controller impleme...
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| Format: | Journal Article |
| Language: | English |
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2014
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| Online Access: | https://hdl.handle.net/10356/101127 http://hdl.handle.net/10220/19799 |
| _version_ | 1826128419905077248 |
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| author | Li, Qing |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Li, Qing |
| author_sort | Li, Qing |
| collection | NTU |
| description | To effectively control a complex mechanical structure for precise performance, a model-based type of controller is usually desired. In cases of controlling parallel robots, however, the iterative computation due to the complexity of the dynamic models can result in difficulties in controller implementations and system stability analysis. To avoid this problem, simplified dynamic models can be obtained through approximation, nevertheless, performance accuracy will suffer due to simplification. This paper suggests applying the effective Design For Control (DFC) approach to handle this problem. The underlying idea of the DFC approach is that, no matter how complex a system is, as long as its mechanical structure can be judiciously designed such that it results in a simple dynamic model, a simple control algorithm may be good enough for a satisfactory control performance. Through out the discussion in the paper, the integrated design and control of a two DOF parallel robot is studied as an illustration example. Experimental validation has demonstrated the effectiveness of the DFC approach. |
| first_indexed | 2024-10-01T07:24:40Z |
| format | Journal Article |
| id | ntu-10356/101127 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T07:24:40Z |
| publishDate | 2014 |
| record_format | dspace |
| spelling | ntu-10356/1011272020-03-07T13:22:21Z Application of the design for control approach for the integrated design and control of parallel robots Li, Qing School of Mechanical and Aerospace Engineering DRNTU::Engineering::Mechanical engineering::Control engineering To effectively control a complex mechanical structure for precise performance, a model-based type of controller is usually desired. In cases of controlling parallel robots, however, the iterative computation due to the complexity of the dynamic models can result in difficulties in controller implementations and system stability analysis. To avoid this problem, simplified dynamic models can be obtained through approximation, nevertheless, performance accuracy will suffer due to simplification. This paper suggests applying the effective Design For Control (DFC) approach to handle this problem. The underlying idea of the DFC approach is that, no matter how complex a system is, as long as its mechanical structure can be judiciously designed such that it results in a simple dynamic model, a simple control algorithm may be good enough for a satisfactory control performance. Through out the discussion in the paper, the integrated design and control of a two DOF parallel robot is studied as an illustration example. Experimental validation has demonstrated the effectiveness of the DFC approach. 2014-06-16T07:47:00Z 2019-12-06T20:33:41Z 2014-06-16T07:47:00Z 2019-12-06T20:33:41Z 2014 2014 Journal Article Li, Q. (2014). Application of the Design For Control Approach for the Integrated Design and Control of Parallel Robots . Journal of Dynamic Systems, Measurement, and Control, 136(4), 044501-. 0022-0434 https://hdl.handle.net/10356/101127 http://hdl.handle.net/10220/19799 10.1115/1.4026664 en Journal of dynamic systems, measurement, and control © 2014 ASME. |
| spellingShingle | DRNTU::Engineering::Mechanical engineering::Control engineering Li, Qing Application of the design for control approach for the integrated design and control of parallel robots |
| title | Application of the design for control approach for the integrated design and control of parallel robots |
| title_full | Application of the design for control approach for the integrated design and control of parallel robots |
| title_fullStr | Application of the design for control approach for the integrated design and control of parallel robots |
| title_full_unstemmed | Application of the design for control approach for the integrated design and control of parallel robots |
| title_short | Application of the design for control approach for the integrated design and control of parallel robots |
| title_sort | application of the design for control approach for the integrated design and control of parallel robots |
| topic | DRNTU::Engineering::Mechanical engineering::Control engineering |
| url | https://hdl.handle.net/10356/101127 http://hdl.handle.net/10220/19799 |
| work_keys_str_mv | AT liqing applicationofthedesignforcontrolapproachfortheintegrateddesignandcontrolofparallelrobots |