A switching inverse dynamics controller for parallel manipulators around drive singular configurations

Date

2016-01-01

Author

Ozdemir, Mustafa
İDER, SITKI KEMAL

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

119
views

0
downloads

Despite many advantages, parallel manipulators are known to possess drive singularities where the control of one or more degrees of freedom is lost. Around these singular configurations, the required actuator forces grow unbounded. Previous efforts in the literature put forward singularity-consistent trajectory planning and singularity robust modification of the dynamic equations as a solution to this problem. However, this previous method is applicable only for the open-loop operation of the manipulator, whereas initial configuration errors, external disturbances, and modeling errors should necessarily be taken into account in a closed-loop sense in real-life applications. With this aim, a switching inverse dynamics controller is proposed in this study for the trajectory tracking control of parallel manipulators as they pass through drive singular configurations. Simulations of the application of the developed controller result in good tracking performance, even in the presence of modeling errors, while the actuator efforts remain bounded and continuous in the neighborhood of the singularity.

Subject Keywords

Drive singularities, Inverse dynamics control, Parallel manipulators

URI

https://hdl.handle.net/11511/65780

Journal

TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES

DOI

https://doi.org/10.3906/elk-1502-50

Collections

Department of Mechanical Engineering, Article

Suggestions

OpenMETU
Core

An Integration method over a moving window for exponential convergence in adaptive control without persistency of excitation Yayla, Metehan; Kutay, Ali Türker; Department of Aerospace Engineering (2016) Adaptive control has great capabilities in control of uncertain systems to maintain a consistent and desired performance. Another control methodology concerning the uncertain systems is the robust control. It is well-known that the robust control has advantages of dealing with external disturbances, unmodeled dynamics, and quickly varying uncertain parameters. Nonetheless, robustness against these environmental, and parametric uncertainties degrades the tracking performance. Besides, adaptive control can to...
The conceptual design of a spatial binary hyper redundant manipulator and its forward kinematics Bayram, Atilla; Özgören, Mustafa Kemal (2012-01-01) The hyper redundant manipulators (HRMs) have excessively many degrees of freedom. As a special but practicable subset of them, the binary hyper-redundant manipulators (BHRMs) use binary (on-off) actuators with only two stable states such as pneumatic cylinders and/or solenoids. This article describes the conceptual design of a spatial BHRM together with its forward kinematics. This BHRM consists of many modules with the same constructive characteristics. The modules increase in size from the tip to the base...
A Readout circuit for resonant MEMS temperature sensors Asadi, Hamed; Akın, Tayfun; Azgın, Kıvanç; Department of Electrical and Electronics Engineering (2016) High precision is the dominant advantage that resonant sensors have over other types of analog sensors (sensors with a subsequent analog-to-digital converter). The resolution of these precise sensors is determined by both frequency resolution and sensitivity of the sensor. The sensitivity is highly related to the sensitivity of the MEMS resonator. However, the frequency resolution is dominantly defined by the closed-loop circuitry if noise contribution of the resonator is assumed to be smaller than that of ...
STABILITY OF CONTROL FORCES IN REDUNDANT MULTIBODY SYSTEMS IDER, SK (1996-01-03) In this paper inverse dynamics of redundant multibody systems using a minimum number of control forces is formulated. It is shown that the control forces and the task accelerations may become noncausal at certain configurations, yielding the dynamical equation set of the system to be singular. For a given set of tasks, each different set of actuators leads to a different system motion and also to different singular configurations. To avoid the singularities in the numerical solution, the dynamical equations...
A New Model Predictive Torque Control Strategy with Reduced Set of Prediction Vectors Şahin, İlker; Keysan, Ozan (2018-04-12) Major drawback of finite control set model predictive control (FCS-MPC) is its high computational burden. This paper proposes a new optimal vector selection strategy that reduces the computational cost of FCS-MPC technique. Considering two-level voltage source inverters (2L-VSI) utilized as motor drives, proposed strategy reduces the number of active prediction vectors from six to three. Hence, cost function is evaluated only for four vectors (three active and one zero). Moreover, between the two possible z...

Citation Formats

M. Ozdemir and S. K. İDER, “A switching inverse dynamics controller for parallel manipulators around drive singular configurations,” TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES, pp. 4267–4283, 2016, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/65780.