Mechatronic development and dynamic control of a 3-DOF parallel manipulator

The aim of this article is to develop, from the mechatronic point of view, a low-cost parallel manipulator (PM) with 3-degrees of freedom (DOF). The robot has to be able to generate and control one translational motion (heave) and two rotary motions (rolling and pitching). Applications for this kind...

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Authors: Vallés Miquel, Marina|||0000-0002-6396-0098, Valera Fernández, Ángel|||0000-0001-6843-6394, Mata Amela, Vicente|||0000-0003-2255-0567, Page Del Pozo, Alvaro Felipe|||0000-0002-5432-310X, Díaz-Rodríguez, Miguel
Format: article
Publication Date:2012
Country:España
Institution:Universitat Politècnica de València (UPV)
Repository:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
Language:English
OAI Identifier:oai:riunet.upv.es:10251/34388
Online Access:https://riunet.upv.es/handle/10251/34388
Access Level:Open access
Keyword:Dynamics
Kinematics
Mechatronics
Parallel manipulator
Robot control
FISICA APLICADA
INGENIERIA DE SISTEMAS Y AUTOMATICA
INGENIERIA MECANICA
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repository_id_str
spelling Mechatronic development and dynamic control of a 3-DOF parallel manipulatorVallés Miquel, Marina|||0000-0002-6396-0098Valera Fernández, Ángel|||0000-0001-6843-6394Mata Amela, Vicente|||0000-0003-2255-0567Page Del Pozo, Alvaro Felipe|||0000-0002-5432-310XDíaz-Rodríguez, MiguelDynamicsKinematicsMechatronicsParallel manipulatorRobot controlFISICA APLICADAINGENIERIA DE SISTEMAS Y AUTOMATICAINGENIERIA MECANICAThe aim of this article is to develop, from the mechatronic point of view, a low-cost parallel manipulator (PM) with 3-degrees of freedom (DOF). The robot has to be able to generate and control one translational motion (heave) and two rotary motions (rolling and pitching). Applications for this kind of parallel manipulator can be found at least in driving-motion simulation and in the biomechanical field. An open control architecture has been developed for this manipulator, which allows implementing and testing different dynamic control schemes for a PM with 3-DOF. Thus, the robot developed can be used as a test bench where control schemes can be tested. In this article, several control schemes are proposed and the tracking control responses are compared. The schemes considered are based on passivity-based control and inverse dynamic control. The control algorithm considers point-to-point control or tracking control. When the controller considers the system dynamics, an identified model has been used. The control schemes have been tested on a virtual robot and on the actual prototype. © 2012 Taylor & Francis Group, LLC.The authors wish to express their gratitude to the Plan Nacional de I+D, Comision Interministerial de Ciencia y Tecnologia (FEDER-CICYT) for the partial financing of this study under the projects DPI2009-13830-C02-01 and DPI2010-20814-C02-(01, 02). This work was also supported in part by the CDCHT-ULA Grant I-1286-11-02-B.Taylor & FrancisDepartamento de Física AplicadaEscuela Técnica Superior de Ingeniería de TelecomunicaciónDepartamento de Ingeniería de Sistemas y AutomáticaEscuela Técnica Superior de Ingeniería Aeroespacial y Diseño IndustrialDepartamento de Ingeniería Mecánica y de MaterialesInstituto Universitario de Automática e Informática IndustrialInstituto Universitario de Investigación Concertado de Ingeniería Mecánica y BiomecánicaEscuela Técnica Superior de Ingeniería IndustrialEscuela Técnica Superior de Ingeniería InformáticaMinisterio de Ciencia e InnovaciónUniversidad de los Andes, VenezuelaRepositorio Institucional de la Universitat Politècnica de València Riunet20122012-09-01journal articlehttp://purl.org/coar/resource_type/c_6501VoRhttp://purl.org/coar/version/c_970fb48d4fbd8a85info:eu-repo/semantics/articleapplication/pdfapplication/pdfhttps://riunet.upv.es/handle/10251/34388reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valénciainstname:Universitat Politècnica de València (UPV)InglésengMinisterio de Ciencia e Innovación http://dx.doi.org/10.13039/501100004837 DPI2009-13830-C02-01 Modelado Cinematico Y Dinamico Del Movimiento De Los Tejidos Blandos. Aplicacion Al Diseño De Modelos Biomecanicos (Desarrollo E Implementacion De Modelos)Universidad de los Andes, Venezuela https://doi.org/10.13039/501100006394 I-1286-11-02-BMinisterio de Ciencia e Innovación http://dx.doi.org/10.13039/501100004837 DPI2010-20814-C02-01 IDENTIFICACION DE PARAMETROS DINAMICOS EN VEHICULOS LIGEROS Y ROBOTS MOVILES. APLICACION A LA IDENTIFICACION EN TIEMPO REALMinisterio de Ciencia e Innovación http://dx.doi.org/10.13039/501100004837 DPI2010-20814-C02-02 IDENTIFICACION DE PARAMETROS DINAMICOS EN VEHICULOS LIGEROS Y ROBOTS MOVILES. APLICACION AL CONTROL Y LA NAVEGACION AUTOMATICAopen accesshttp://purl.org/coar/access_right/c_abf2Reserva de todos los derechoshttp://rightsstatements.org/vocab/InC/1.0/info:eu-repo/semantics/openAccessoai:riunet.upv.es:10251/343882026-06-13T07:49:27Z
dc.title.none.fl_str_mv Mechatronic development and dynamic control of a 3-DOF parallel manipulator
title Mechatronic development and dynamic control of a 3-DOF parallel manipulator
spellingShingle Mechatronic development and dynamic control of a 3-DOF parallel manipulator
Vallés Miquel, Marina|||0000-0002-6396-0098
Dynamics
Kinematics
Mechatronics
Parallel manipulator
Robot control
FISICA APLICADA
INGENIERIA DE SISTEMAS Y AUTOMATICA
INGENIERIA MECANICA
title_short Mechatronic development and dynamic control of a 3-DOF parallel manipulator
title_full Mechatronic development and dynamic control of a 3-DOF parallel manipulator
title_fullStr Mechatronic development and dynamic control of a 3-DOF parallel manipulator
title_full_unstemmed Mechatronic development and dynamic control of a 3-DOF parallel manipulator
title_sort Mechatronic development and dynamic control of a 3-DOF parallel manipulator
dc.creator.none.fl_str_mv Vallés Miquel, Marina|||0000-0002-6396-0098
Valera Fernández, Ángel|||0000-0001-6843-6394
Mata Amela, Vicente|||0000-0003-2255-0567
Page Del Pozo, Alvaro Felipe|||0000-0002-5432-310X
Díaz-Rodríguez, Miguel
author Vallés Miquel, Marina|||0000-0002-6396-0098
author_facet Vallés Miquel, Marina|||0000-0002-6396-0098
Valera Fernández, Ángel|||0000-0001-6843-6394
Mata Amela, Vicente|||0000-0003-2255-0567
Page Del Pozo, Alvaro Felipe|||0000-0002-5432-310X
Díaz-Rodríguez, Miguel
author_role author
author2 Valera Fernández, Ángel|||0000-0001-6843-6394
Mata Amela, Vicente|||0000-0003-2255-0567
Page Del Pozo, Alvaro Felipe|||0000-0002-5432-310X
Díaz-Rodríguez, Miguel
author2_role author
author
author
author
dc.contributor.none.fl_str_mv Departamento de Física Aplicada
Escuela Técnica Superior de Ingeniería de Telecomunicación
Departamento de Ingeniería de Sistemas y Automática
Escuela Técnica Superior de Ingeniería Aeroespacial y Diseño Industrial
Departamento de Ingeniería Mecánica y de Materiales
Instituto Universitario de Automática e Informática Industrial
Instituto Universitario de Investigación Concertado de Ingeniería Mecánica y Biomecánica
Escuela Técnica Superior de Ingeniería Industrial
Escuela Técnica Superior de Ingeniería Informática
Ministerio de Ciencia e Innovación
Universidad de los Andes, Venezuela
Repositorio Institucional de la Universitat Politècnica de València Riunet
dc.subject.none.fl_str_mv Dynamics
Kinematics
Mechatronics
Parallel manipulator
Robot control
FISICA APLICADA
INGENIERIA DE SISTEMAS Y AUTOMATICA
INGENIERIA MECANICA
topic Dynamics
Kinematics
Mechatronics
Parallel manipulator
Robot control
FISICA APLICADA
INGENIERIA DE SISTEMAS Y AUTOMATICA
INGENIERIA MECANICA
description The aim of this article is to develop, from the mechatronic point of view, a low-cost parallel manipulator (PM) with 3-degrees of freedom (DOF). The robot has to be able to generate and control one translational motion (heave) and two rotary motions (rolling and pitching). Applications for this kind of parallel manipulator can be found at least in driving-motion simulation and in the biomechanical field. An open control architecture has been developed for this manipulator, which allows implementing and testing different dynamic control schemes for a PM with 3-DOF. Thus, the robot developed can be used as a test bench where control schemes can be tested. In this article, several control schemes are proposed and the tracking control responses are compared. The schemes considered are based on passivity-based control and inverse dynamic control. The control algorithm considers point-to-point control or tracking control. When the controller considers the system dynamics, an identified model has been used. The control schemes have been tested on a virtual robot and on the actual prototype. © 2012 Taylor & Francis Group, LLC.
publishDate 2012
dc.date.none.fl_str_mv 2012
2012-09-01
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
VoR
http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://riunet.upv.es/handle/10251/34388
url https://riunet.upv.es/handle/10251/34388
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.relation.none.fl_str_mv Ministerio de Ciencia e Innovación http://dx.doi.org/10.13039/501100004837 DPI2009-13830-C02-01 Modelado Cinematico Y Dinamico Del Movimiento De Los Tejidos Blandos. Aplicacion Al Diseño De Modelos Biomecanicos (Desarrollo E Implementacion De Modelos)
Universidad de los Andes, Venezuela https://doi.org/10.13039/501100006394 I-1286-11-02-B
Ministerio de Ciencia e Innovación http://dx.doi.org/10.13039/501100004837 DPI2010-20814-C02-01 IDENTIFICACION DE PARAMETROS DINAMICOS EN VEHICULOS LIGEROS Y ROBOTS MOVILES. APLICACION A LA IDENTIFICACION EN TIEMPO REAL
Ministerio de Ciencia e Innovación http://dx.doi.org/10.13039/501100004837 DPI2010-20814-C02-02 IDENTIFICACION DE PARAMETROS DINAMICOS EN VEHICULOS LIGEROS Y ROBOTS MOVILES. APLICACION AL CONTROL Y LA NAVEGACION AUTOMATICA
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reserva de todos los derechos
http://rightsstatements.org/vocab/InC/1.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reserva de todos los derechos
http://rightsstatements.org/vocab/InC/1.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Taylor & Francis
publisher.none.fl_str_mv Taylor & Francis
dc.source.none.fl_str_mv reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
instname:Universitat Politècnica de València (UPV)
instname_str Universitat Politècnica de València (UPV)
reponame_str RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
collection RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
repository.name.fl_str_mv
repository.mail.fl_str_mv
_version_ 1869408989328965632
score 15,300719

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