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1 – 2 of 2Fabian Andres Lara-Molina, Didier Dumur and Karina Assolari Takano
This paper aims to present the optimal design procedure of a symmetrical 2-DOF parallel planar robot with flexible joints by considering several performance criteria based on the…
Abstract
Purpose
This paper aims to present the optimal design procedure of a symmetrical 2-DOF parallel planar robot with flexible joints by considering several performance criteria based on the workspace size, dynamic dexterity and energy of the control.
Design/methodology/approach
Consequently, the optimal design consists in determining the dimensional parameters to maximize the size of the workspace, maximize the dynamic dexterity and minimize the energy of the control action. The design criteria are derived from the kinematics, dynamics, elastodynamics and the position control law of the robot. The analysis of the design criteria is performed by means of the design space and atlases.
Findings
Finally, the multi-objective design optimization derived from the optimal design procedure is solved by using multi-objective genetic algorithms, and the results are analyzed to assess the validity of the proposed approach.
Originality/value
An alternative approach to the design of a planar parallel robot with flexible joints that permits determining the structural parameters by considering kinematic, dynamic and control operational performance.
Details
Keywords
Fabian Andres Lara-Molina, João Maurício Rosário, Didier Dumur and Philippe Wenger
– The purpose of this paper is to address the synthesis and experimental application of a generalized predictive control (GPC) technique on an Orthoglide robot.
Abstract
Purpose
The purpose of this paper is to address the synthesis and experimental application of a generalized predictive control (GPC) technique on an Orthoglide robot.
Design/methodology/approach
The control strategy is composed of two control loops. The inner loop aims at linearizing the nonlinear robot dynamics using feedback linearization. The outer loop tracks the desired trajectory based on GPC strategy, which is robustified against measurement noise and neglected dynamics using Youla parameterization.
Findings
The experimental results show the benefits of the robustified predictive control strategy on the dynamical performance of the Orthoglide robot in terms of tracking accuracy, disturbance rejection, attenuation of noise acting on the control signal and parameter variation without increasing the computational complexity.
Originality/value
The paper shows the implementation of the robustified predictive control strategy in real time with low computational complexity on the Orthoglide robot.
Details