Hostname: page-component-586b7cd67f-vdxz6 Total loading time: 0 Render date: 2024-11-22T09:41:13.712Z Has data issue: false hasContentIssue false
  • English
  • Français

Improving the performance of parallel robots by applying distinct hybrid control techniques

Published online by Cambridge University Press:  27 July 2021

André G. Coutinho Open the ORCID record for André G. Coutinho [Opens in a new window]  and
Tarcisio A. Hess-Coelho Open the ORCID record for Tarcisio A. Hess-Coelho [Opens in a new window]
André G. Coutinho
Affiliation:
Mechatronics and Mechanical Systems Engineering Department, Escola Politécnica, University of São Paulo, São Paulo, Brazil
Tarcisio A. Hess-Coelho*
Affiliation:
Mechatronics and Mechanical Systems Engineering Department, Escola Politécnica, University of São Paulo, São Paulo, Brazil
*
*Corresponding author. E-mail: tarchess@usp.br
Get access Rights & Permissions [Opens in a new window]

Abstract

During the last two decades, parallel robots have become more ubiquitous, employed in a great variety of sectors, from food to aerospace industries. In fact, they are much more efficient than their serial counterparts in terms of performing fast motions and consuming less energy. However, due to their mechanical complexity, they present a highly complex non-linear dynamics, which makes the modelling and control tasks difficult. Aiming to improve the performance and robustness of the control laws already used to control this type of mechanisms, this paper proposes two hybrid control techniques. The first hybrid control is derived from the combination of a pure PD control with a modified Sliding Mode control. The second hybrid control, in its turn, combines a pure Computed Torque with the altered Sliding Mode control. The proposed modifications in the Sliding Mode control aim to achieve a considerable reduction of the tracking errors and chattering. A stability analysis of the proposed control techniques and an experimental validation are carried out, comparing the performance of the pure and hybrid control laws in a 5R parallel mechanism. Moreover, simulations are also conducted to evaluate the behaviour of a 3-dof spatial parallel robot, when performing a 3D-path. Analysing the simulations and the experimental results, it is possible to observe a significant reduction of the path tracking and steady-state errors in both hybrid control strategies.

Keywords

parallel mechanismsroboticsnon-linear controlrobust controlhybrid control
Type
Research Article
Information
Robotica , Volume 40 , Issue 4 , April 2022 , pp. 951 - 975
Copyright
© The Author(s), 2021. Published by Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Clavel, R., “Robots parallles: du packaging cadence leve la production dultra haute prcision,” In: Journes Nationales de la Recherche en Robotique, 8me edn. (2011).Google Scholar
Physik Instrumente Group, “Hexapod +3 Redundant Measuring Systems/Legs: Medical Robot with Highest Levels of Reliability,” https://www.pi-usa.us/en/news-events/hexapod-3-redundant-measuring-systems-legs (Accessed Oct 26th, 2020).Google Scholar
PKMtricept SL, “Tricept T9000”, (Accessed May 26th, 2018)Google Scholar
Starrag Group Holding, AG, “Ecospeed F HT 2”, https://www.starrag.com/en-us/machine/ecospeed-f-ht-2/146 (Accessed Oct 26th, 2020)Google Scholar
Ecorobotix Ltd., “Switch to smart weeding”, https://www.ecorobotix.com/en/autonomous-robot-weeder (Accessed Oct 26th, 2020)Google Scholar
Tsai, L.-W., Robot Analysis: The Mechanics of Serial and Parallel Manipulators (Wiley, New York, 1999)Google Scholar
Pashkevich, A., Chablat, D. and Wenger, P., “Kinematics and workspace analysis of a three-axis parallel manipulator: The Orthoglide,” Robotica 24(1), 39–49 (2006).CrossRefGoogle Scholar
Briot, S. and Bonev, I. A., “Are parallel robots more accurate than serial robots?,” Canad. Soc. Mech. Eng. (CSME) Trans. 31(4), 445–456 (2007).CrossRefGoogle Scholar
Hesselbach, J., Pietsch, I. T., Bier, C. C. and Becker, O. T., “Model-based Control of Plane Parallel Robots - How to Choose the Appropriate Approach? Proceedings of the 4th Chemnitz Parallel Kinematics Seminar (PKS 2004), April 20–21, 2004, Chemnitz, Germany (2004) pp. 211–232.Google Scholar
Choi, H. B., Company, O., Pierrot, F., Konno, A., Shibukawa, T. and Uchiyama, M., “Design and Control of a Novel 4-DOFs Parallel Robot H4,” IEEE International Conference on Robotics & Automation, Taipei. Proceedings. Taipei, 2003 (IEEE, 2003).Google Scholar
Choi, H.-B., Konno, A. and Uchiyama, M., “Design, implementation, and performance evaluation of a 4-DOF parallel robot,” Robotica 28(1), 107–118 (2010).CrossRefGoogle Scholar
Chung, W., Fu, L.-C. and Hsu, S.-H., “Motion Control,” In: Springer Handbook of Robotics (Siciliano, B. and Khatib, O., eds.) (2008), pp. 133–159.Google Scholar
Craig, J. J., Introduction to Robotics: Mechanics and Control, 4th edn. (Pearson, London, UK, 2017).Google Scholar
Slotine, J.-J.E., “The robust control of robot manipulators,” Int. J. Rob. Res. 4(2), 49–64 (1985).CrossRefGoogle Scholar
Zhan, Z., Zhang, X., Jian, Z. and Zhang, H., “Error modelling and motion reliability analysis of a planar parallel manipulator with multiple uncertainties,” Mech. Mach. Theory 124(June), 55–72 (2018).CrossRefGoogle Scholar
Grzelczyk, D., B. Staczyk and J. Awrejcewicz, “Prototype, control system architecture and controlling of the hexapod legs with nonlinear stick-slip vibrations,” Mechatronics 37(August), 63–78 (2016).CrossRefGoogle Scholar
Zubizarreta, A., Cabanes, I., Marcos, M. and Pinto, C., “A redundant dynamic model of parallel robots for model-based control,” Robotica 31(2), 203–216 (2013).CrossRefGoogle Scholar
Singh, Y. and Santhakumar, M., “Inverse dynamics and robust sliding mode control of a planar parallel (2-PRP and 1-PPR) robot augmented with a nonlinear disturbance observer,” Mech. Mach. Theory 92(October), 29–50 (2015).CrossRefGoogle Scholar
Ozgur, E., Andreff, N. and Martinet, P., “Vector-Based Dynamic Modeling and Control of the Quattro Parallel Robot by Means of Leg Orientations,” 2010 IEEE International Conference on Robotics and Automation Anchorage Convention District May 3–8, 2010, Anchorage, Alaska, USA (2010).CrossRefGoogle Scholar
Li, Y. and Xu, Q., “Dynamic modeling and robust control of a 3-PRC translational parallel kinematic machine,” Rob. Comput. Integr. Manuf. 25(3), 630–640 (2009).CrossRefGoogle Scholar
Mohan, S., “Error analysis and control scheme for the error correction in trajectory-tracking of a planar 2PRP-PPR parallel manipulator,” Mechatronics 46(October), 70–83 (2017).CrossRefGoogle Scholar
Wang, D., Wu, J., Wang, L., Liu, Y. and Yu, G., “A method for designing control parameters of a 3-DOF parallel tool head,” Mechatronics 41(February), 102–113 (2017).CrossRefGoogle Scholar
Lipiski, K., “Modeling and control of a redundantly actuated variable mass 3RRR planar manipulator controlled by a model-based feedforward and a model-based-proportional-derivative feedforwardfeedback controller,” Mechatronics 37(August), 42–53 (2016).CrossRefGoogle Scholar
Safonov, M. G., “Origins of robust control: Early history and future speculations,” Ann. Rev. Control 36(2), 173–181 (2012).CrossRefGoogle Scholar
Islam, S. and Liu, X. P., “Robust sliding mode control for robot manipulators,” IEEE Trans. Ind. Electr. 58(6), 2444–2453 (2011).CrossRefGoogle Scholar
Achili, B., Daachi, B., Amirat, Y., Ali-Cherif, A. and Dachi, M.E., “A stable adaptive force/position controller for a C5 parallel robot: A neural network approach,” Robotica 30(7), 1177–1187 (2012).CrossRefGoogle Scholar
Piltan, F. and Sulaiman, N. B., “Review of sliding mode control of robotic manipulator,” World Appl. Sci. J. 18(12), 1855–1869 (2012).Google Scholar
Chevalier, A., Copot, C., Ionescu, C. M. and De Keyser, R., “Automatic calibration with robust control of a six DoF mechatronic system,” Mechatronics 35(May), 102–108 (2016).CrossRefGoogle Scholar
Shi, J., Liu, H. and Bajcinca, N., “Robust control of robotic manipulators based on integral sliding mode,” Int. J. Control 81(10), 1537–1548 (2008).CrossRefGoogle Scholar
Daly, J. M. and Schwartz, H. M., “Experimental results for output feedback adaptive robot control,” Robotica 24(6), 727–738 (2006).CrossRefGoogle Scholar
Natal, G. S., Chemori, A. and Pierrot, F., “Nonlinear control of parallel manipulators for very high accelerations without velocity measurement: Stability analysis and experiments on Par2 parallel manipulator,” Robotica 34(1), 43–70 (2016).CrossRefGoogle Scholar
Zeinali, M. and Notash, L., “Adaptive sliding mode control with uncertainty estimator for robot manipulators,” Mech. Mach. Theory 45(1), 80–90 (2010).CrossRefGoogle Scholar
Sarkar, B. K., “Modeling and validation of a 2-DOF parallel manipulator for pose control application,” Rob. Comput. Integr. Manuf. 50(April), 234–241 (2018).CrossRefGoogle Scholar
Long, Y., Du, Z. J., Wang, W. D. and Dong, W., “Robust sliding mode control based on GA optimization and CMAC compensation for lower limb exoskeleton,” Appl. Bionics Biomech. 2016, Article ID 5017381, 13 p (2016).CrossRefGoogle Scholar
Mahmoodabadi, M., Taherkhorsandi, M., Talebipour, M. and Castillo-Villar, K., “Adaptive robust PID control subject to supervisory decoupled sliding mode control based upon genetic algorithm optimization,” Trans. Inst. Meas. Control 37(4), 505–514 (2015).CrossRefGoogle Scholar
Lee, K. J., Choi, J. J. and Kim, J. S., “A proportional-derivative-sliding mode hybrid control scheme for a robot manipulator,” Proc. Inst. Mech. Eng. Part I J. Syst. Control Eng. 218(8), 667–674 (2004).Google Scholar
Li, S., Ghasemi, A., Xie, W. and Gao, Y., “An enhanced IBVS controller of a 6DOF manipulator using hybrid PD-SMC method,” Int. J. Control Autom. Syst. 16(April), 844–855 (2018).CrossRefGoogle Scholar
Truong, H.-V.-A., Tran, D.-T. and Ahn, K. K., “A neural network based sliding mode control for tracking performance with parameters variation of a 3-DOF manipulator,” Appl. Sci. 9(10), 2023 (2019).CrossRefGoogle Scholar
Acob, J. M., Pano, V. and Ouyang, P. R., “Hybrid PD Sliding Mode Control of a Two-Degree-of-Freedom Parallel Robotic Manipulator,” 10th IEEE International Conference on Control and Automation (ICCA) Hangzhou, China, June 12–14, 2013 (2013) pp. 1760–1765.Google Scholar
Acob, J. M., Hybrid PD Sliding Mode Control for Robotic Manipulators MSc Thesis (Ryerson University, Canada, 2015).Google Scholar
Kara, T., and Mary, A. L., “Adaptive PD-SMC for nonlinear robotic manipulator,” Tracking Control Stud. Inf. Control 26(1), 49–58 (2017).Google Scholar
Lin, F.-J. and Wai, R.-J., “Hybrid Computed Torque controlled motortoggle servomechanism using fuzzy neural network uncertainty observer,” Neurocomputing 48(October), 403–422 (2002).CrossRefGoogle Scholar
Yu, H., “Modeling and control of hybrid machine systems - a five-bar mechanism case,” Int. J. Autom. Comput. 3(July), 235–243 (2006).CrossRefGoogle Scholar
Peng, J., Wang, J. and Wang, Y., “Neural network based robust hybrid control for robotic system: An H $\infty$ approach,” Nonlinear Dyn. 65(September), 421–431 (2011).CrossRefGoogle Scholar
Roldn-Paraponiaris, C., Campa, F. J. and Altuzarra, O., “Mechatronic modeling of a parallel kinematics multi-axial simulation table based on decoupling the actuators and manipulator dynamics,” Mechatronics 47(November), 208–222 (2017).CrossRefGoogle Scholar
Olofsson, B. and Nielsen, L., “Path-tracking velocity control for robot manipulators with actuator constraints,” Mechatronics 45(August), 82–99 (2017).CrossRefGoogle Scholar
Wen, S., Hu, X., Zhang, B., Sheng, M., Lam, H. K. and Zhao, Y., “Fractional-order internal model control algorithm based on the force/position control structure of redundant actuation parallel robot,” Int. J. Adv. Rob. Syst. 17(1), 1–13 (2020).Google Scholar
Li, Q., “Experimental validation on the integrated design and control of a parallel robot,” Robotica 24(2), 173–181 (2006).CrossRefGoogle Scholar
Coutinho, A. G., Bartholomeu, V. P., Stevanni, I., Oliveira-Fuess, J. M., Hess-Coelho, T. A. and Colon, D., “Design and Control of 2-DOF Parallel Mechanism,” 25th ABCM International Congress of Mechanical Engineering, October 20-25, Uberlandia, Brazil (2019).Google Scholar
Zhang, H., Fang, H. and Zou, Q., “Non-singular terminal sliding mode control for redundantly actuated parallel mechanism,” Int. J. Adv. Rob. Syst. 17(2), 1–13 (2020).Google Scholar
Khalil, W. and Dombre, E., Modeling, Identification and Control of Robots (Hermes Penton Ltd., 2002).Google Scholar
Qi, Z., McInroy, J. E. and Jafari, F., “Trajectory tracking with parallel robots using low chattering, fuzzy sliding mode controller,” J. Intell. Rob. Syst. 48(March), 333–356 (2007).CrossRefGoogle Scholar
Suttirak, C. and Pukdeboon, C., “Finite-time convergent sliding mode controllers for robot Ma- nipulators,” Appl. Math. Sci. 7(63), 3141–3154 (2013).Google Scholar
Chen, Z., Yang, X., Zhang, X. and Liu, P. X., Finite-time trajectory tracking control for rigid 3-DOF manipulators with disturbances. doi: 10.1109/ACCESS.2018.2859435.CrossRefGoogle Scholar
Thompson, M. T., Intuitive Analog Circuit Design, 2nd edn. (Elsevier, Oxford, UK, 2014)Google Scholar
Orsino, R. M. M. and Hess-Coelho, T. A., “A contribution on the modular modelling of multibody systems,” Proc. R. Soc. A 471(2183), 20150080 (2015). doi: 10.1098/rspa.2015.0080.CrossRefGoogle Scholar
Hess-Coelho, T. A., Orsino, R. M. M. and Malvezzi, F., “Modular modelling methodology applied to the dynamic analysis of parallel mechanisms,” Mech. Mach. Theory 161(July), 104332 (2021).CrossRefGoogle Scholar

Coutinho and Hess-Coelho supplementary material

Coutinho and Hess-Coelho supplementary material 1

Download Coutinho and Hess-Coelho supplementary material(Audio)
Audio 3.4 MB

Coutinho and Hess-Coelho supplementary material

Coutinho and Hess-Coelho supplementary material 2

Download Coutinho and Hess-Coelho supplementary material(Audio)
Audio 1.6 MB