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Original Article
Sliding Mode Variable Impedance Control for 4RRR Redundantly Actuated Parallel Robot
Guang-Ping He
North China University of Technology
Corresponding Author
License:
This work is licensed under a CC BY 4.0 License. Read Full License
The workspace of parallel robot is limited, and the distribution characteristics of kinematics and force maneuverability are complex in the workspace. In addition, there are often operational singularities. The redundant actuation technology can not only overcome singularity problem of force maneuverability of parallel mechanism, but also eliminate the clearance of the mechanism, dynamically adjust the operating stiffness, realize the optimized operation of energy consumption, etc. In this paper, with the goal of realizing dexterous dynamic output control, the variable impedance control technology of redundantly actuated parallel robot based on operation space is studied. Compared with the traditional invariable impedance control, the variable impedance control can adapt to the change of unknown environment by time-varying controlling parameters, which provides the possibility to realize the polishing of complex curved surfaces and thin-walled parts, assembly task and improves the performance of the system and the machining quality of the parts. In order to avoid the influence of unmodeled errors and external interferences on the system, based on the sliding mode control (SMC) strategy, the variable impedance control (VIC) in the operating space of 4RRR redundantly actuated parallel robot (4RAPR) is proposed. The robust stability of the closed-loop system is analyzed and verified by Matlab programming simulation.
Keywords
Redundant actuation ,Compliance ,Variable impedance control ,Robust stability ,Sliding mode variable impedance control
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CURRENT STATUS: Under Review
Version 1
Posted 06 Jan, 2021
No community comments so far
Reviewers invited
Invitations sent on 12 Jan, 2021
First submitted
On 28 Dec, 2020
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On 28 Dec, 2020
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On 28 Dec, 2020
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Subject Areas
Mechanical Engineering
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This preprint is under consideration at Chinese Journal of Mechanical Engineering. A preprint is a preliminary version of a manuscript that has not completed peer review at a journal. Research Square does not conduct peer review prior to posting preprints. The posting of a preprint on this server should not be interpreted as an endorsement of its validity or suitability for dissemination as established information or for guiding clinical practice.
Learn more about In Review
Original Article
Sliding Mode Variable Impedance Control for 4RRR Redundantly Actuated Parallel Robot
Guang-Ping He
North China University of Technology
Corresponding Author
Badges
Prescreen
This manuscript passed our Prescreen assessment
Complete author information
Appropriate declaration statements
Potential risks to human health
Prescreen
Peer Review Timeline
CURRENT STATUS: Under Review
Version 1
Posted 06 Jan, 2021
No community comments so far
Reviewers invited
Invitations sent on 12 Jan, 2021
First submitted
On 28 Dec, 2020
Editor assigned
On 28 Dec, 2020
Submission checks complete
On 28 Dec, 2020
Editor invited
On 28 Dec, 2020
Metrics
Comments: 0
PDF Downloads: ...
HTML Views: ...
Subject Areas
Mechanical Engineering
License:
This work is licensed under a CC BY 4.0 License. Read Full License
The workspace of parallel robot is limited, and the distribution characteristics of kinematics and force maneuverability are complex in the workspace. In addition, there are often operational singularities. The redundant actuation technology can not only overcome singularity problem of force maneuverability of parallel mechanism, but also eliminate the clearance of the mechanism, dynamically adjust the operating stiffness, realize the optimized operation of energy consumption, etc. In this paper, with the goal of realizing dexterous dynamic output control, the variable impedance control technology of redundantly actuated parallel robot based on operation space is studied. Compared with the traditional invariable impedance control, the variable impedance control can adapt to the change of unknown environment by time-varying controlling parameters, which provides the possibility to realize the polishing of complex curved surfaces and thin-walled parts, assembly task and improves the performance of the system and the machining quality of the parts. In order to avoid the influence of unmodeled errors and external interferences on the system, based on the sliding mode control (SMC) strategy, the variable impedance control (VIC) in the operating space of 4RRR redundantly actuated parallel robot (4RAPR) is proposed. The robust stability of the closed-loop system is analyzed and verified by Matlab programming simulation.
Figure 1
Figure 2
Figure 3
Figure 4
Figure 5
Figure 6
Figure 7
Figure 8
Figure 9
Figure 10
Figure 11
Due to technical limitations, full-text HTML conversion of this manuscript could not be completed. However, the latest manuscript can be downloaded and accessed as a PDF.