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A redundant dynamic model of parallel robots for model-based control

Published online by Cambridge University Press:  22 May 2012

Asier Zubizarreta ,
Itziar Cabanes ,
Marga Marcos  and
Charles Pinto
Asier Zubizarreta
Affiliation:
Department of Automatic Control and System Engineering, University of the Basque Country, Spain
Itziar Cabanes*
Affiliation:
Department of Automatic Control and System Engineering, University of the Basque Country, Spain
Marga Marcos
Affiliation:
Department of Automatic Control and System Engineering, University of the Basque Country, Spain
Charles Pinto
Affiliation:
Department of Mechanical Engineering, University of the Basque Country, Spain
*
*Corresponding author. E-mail: asier.zubizarreta@ehu.es
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The use of extra sensors in parallel robots can provide an increase in control performance, making it possible to fully exploit the potential of these mechanisms. In this paper, a comprehensive redundant dynamic modelling procedure for the six-degree-of-freedom Gough platform is presented. The proposed methodology makes it possible to define the model in terms of all sensorized joint variables in order to implement redundant information-based control, and an example, the Extended Computed Torque Control (Extended CTC) approach, is developed. This, applied to parallel robots, ensures better dynamic performance than the traditional CTC approach. In order to validate dynamic modelling, a two-step procedure is used in this paper. First, the redundant dynamic model is validated by comparing its dynamic performance with the previous research in the field. Second, an exhaustive study is carried out that demonstrates the advantages of the redundant dynamic model when used in the Extended CTC approach.

Keywords

Robot dynamicsControl of robotic systemsMechatronic systemsParallel manipulatorsSensor networks

Information

Type
Articles
Information
Robotica , Volume 31 , Issue 2 , March 2013 , pp. 203 - 216
Copyright
Copyright © Cambridge University Press 2012

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