Dynamics and iterative learning control of robots with parallel kinematical structures / Bodo Heimann and Houssem Abdellatif
The paper deals with model-based control of robots with parallel kinematical structure (PKM). At first, an approach for the identification of friction and rigid-body dynamics of complex parallel kinematical structures is presented. The approach is based on optimal excitation trajectories. The trajec...
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| Format: | Article |
| Language: | English |
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Faculty of Mechanical Engineering and University Publication Centre (UPENA)
2009
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| Online Access: | https://ir.uitm.edu.my/id/eprint/17620/1/AJ_BODO%20HEIMANN%20JME%2009.pdf |
| _version_ | 1825734884087300096 |
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| author | Heimann, Bodo Abdellatif, Houssem |
| author_facet | Heimann, Bodo Abdellatif, Houssem |
| author_sort | Heimann, Bodo |
| collection | UITM |
| description | The paper deals with model-based control of robots with parallel kinematical structure (PKM). At first, an approach for the identification of friction and rigid-body dynamics of complex parallel kinematical structures is presented. The approach is based on optimal excitation trajectories. The trajectories are bounded, such they are easy to befit into the small and hard constraint workspace of PKM. Secondly, some results are presented using feedforward control in order to compensate nonlinear dynamical influences. Thirdly, Iterative Learning Control (ILC) is proposed in this paper for tracking accuracy enhancement of a parallel direct driven manipulator. It is shown both by means of simulation study and experimental results that linear ILC is appropriate for application to the considered high nonlinear and coupled systems. |
| first_indexed | 2024-03-06T01:38:39Z |
| format | Article |
| id | oai:ir.uitm.edu.my:17620 |
| institution | Universiti Teknologi MARA |
| language | English |
| last_indexed | 2024-03-06T01:38:39Z |
| publishDate | 2009 |
| publisher | Faculty of Mechanical Engineering and University Publication Centre (UPENA) |
| record_format | dspace |
| spelling | oai:ir.uitm.edu.my:176202019-12-24T03:34:26Z https://ir.uitm.edu.my/id/eprint/17620/ Dynamics and iterative learning control of robots with parallel kinematical structures / Bodo Heimann and Houssem Abdellatif jmeche Heimann, Bodo Abdellatif, Houssem The paper deals with model-based control of robots with parallel kinematical structure (PKM). At first, an approach for the identification of friction and rigid-body dynamics of complex parallel kinematical structures is presented. The approach is based on optimal excitation trajectories. The trajectories are bounded, such they are easy to befit into the small and hard constraint workspace of PKM. Secondly, some results are presented using feedforward control in order to compensate nonlinear dynamical influences. Thirdly, Iterative Learning Control (ILC) is proposed in this paper for tracking accuracy enhancement of a parallel direct driven manipulator. It is shown both by means of simulation study and experimental results that linear ILC is appropriate for application to the considered high nonlinear and coupled systems. Faculty of Mechanical Engineering and University Publication Centre (UPENA) 2009 Article PeerReviewed text en https://ir.uitm.edu.my/id/eprint/17620/1/AJ_BODO%20HEIMANN%20JME%2009.pdf Dynamics and iterative learning control of robots with parallel kinematical structures / Bodo Heimann and Houssem Abdellatif. (2009) Journal of Mechanical Engineering (JMechE) <https://ir.uitm.edu.my/view/publication/Journal_of_Mechanical_Engineering_=28JMechE=29/>, 6 (1). pp. 43-65. ISSN 1823-5514 ; 2550-164X https://jmeche.uitm.edu.my/ |
| spellingShingle | Heimann, Bodo Abdellatif, Houssem Dynamics and iterative learning control of robots with parallel kinematical structures / Bodo Heimann and Houssem Abdellatif |
| title | Dynamics and iterative learning control of robots with parallel kinematical structures / Bodo Heimann and Houssem Abdellatif |
| title_full | Dynamics and iterative learning control of robots with parallel kinematical structures / Bodo Heimann and Houssem Abdellatif |
| title_fullStr | Dynamics and iterative learning control of robots with parallel kinematical structures / Bodo Heimann and Houssem Abdellatif |
| title_full_unstemmed | Dynamics and iterative learning control of robots with parallel kinematical structures / Bodo Heimann and Houssem Abdellatif |
| title_short | Dynamics and iterative learning control of robots with parallel kinematical structures / Bodo Heimann and Houssem Abdellatif |
| title_sort | dynamics and iterative learning control of robots with parallel kinematical structures bodo heimann and houssem abdellatif |
| url | https://ir.uitm.edu.my/id/eprint/17620/1/AJ_BODO%20HEIMANN%20JME%2009.pdf |
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