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Singularity robustness of the 3RPS parallel manipulator by using the damped-rate resolved-acceleration control
Copyright policy )Singularity robustness of the 3RPS parallel manipulator by using the damped-rate resolved-acceleration control
A novel singularity control method for a fully parallel robot manipulator was proposed in this paper. The damped least-square method has frequently been used to solve the singularity problem of resolved-acceleration control schemes. It works by damping accelerations of the end-effector, so that accelerations in the degenerated directions are zero at a singular point. However, its velocities may not be zero in some situations, in those cases they will encounter fluctuations around the singular point. In this paper, the control using damped velocity, being called the damped-rate resolved-acceleration control scheme (DRRAC) is proposed to overcome this drawback. We will show that the DRRAC is asymptotically stable, and discuss its convergent properties. The main advantage of the DRRAC in the 3RPS parallel manipulator control system is not to plan its path to avoid the singular point, and could improve the workspace. Illustrative examples are given to show its effectiveness in practical applications, and experimental results are taken to verify the proposed control scheme.
- Kao Yuan University Taiwan
ACM Computing Classification System: MathematicsofComputing_NUMERICALANALYSIS
Microsoft Academic Graph classification: Parallel manipulator Workspace Singular point of a curve Singularity Control theory Robustness (computer science) Stability theory Control system Singular value decomposition Mathematics
General Engineering, Computer Science Applications, Artificial Intelligence
General Engineering, Computer Science Applications, Artificial Intelligence
ACM Computing Classification System: MathematicsofComputing_NUMERICALANALYSIS
Microsoft Academic Graph classification: Parallel manipulator Workspace Singular point of a curve Singularity Control theory Robustness (computer science) Stability theory Control system Singular value decomposition Mathematics
citations This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).8 popularity This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.Average influence This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).Average impulse This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.Average citations This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).8 popularity This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.Average influence This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).Average impulse This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.Average
Citations provided by BIP!Popularity provided by BIP!- Kao Yuan University Taiwan
A novel singularity control method for a fully parallel robot manipulator was proposed in this paper. The damped least-square method has frequently been used to solve the singularity problem of resolved-acceleration control schemes. It works by damping accelerations of the end-effector, so that accelerations in the degenerated directions are zero at a singular point. However, its velocities may not be zero in some situations, in those cases they will encounter fluctuations around the singular point. In this paper, the control using damped velocity, being called the damped-rate resolved-acceleration control scheme (DRRAC) is proposed to overcome this drawback. We will show that the DRRAC is asymptotically stable, and discuss its convergent properties. The main advantage of the DRRAC in the 3RPS parallel manipulator control system is not to plan its path to avoid the singular point, and could improve the workspace. Illustrative examples are given to show its effectiveness in practical applications, and experimental results are taken to verify the proposed control scheme.