Journal of Mechanical Science and Technology

  • 제16권8호
  • /
  • Pages.1053-1063
  • /
  • 2002
  • /
  • 1738-494X(pISSN)
  • /
  • 1976-3824(eISSN)
대한기계학회 (The Korean Society of Mechanical Engineers)
권호 표지

Robust Nonlinear Control of a 6 DOF Parallel Manipulator : Task Space Approach

  • Kim, Hag-Seong (Senior Researcher, Agency for Defense Development) ;
  • Youngbo Shim (Researcher, Advanced Robotics Research Center, Korea Institute of Science and Technology) ;
  • Cho, Young-Man (School of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Lee, Kyo-Il (School of Mechanical and Aerospace Engineering, Seoul National University)
  • 발행 : 2002.08.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

This paper presents a robust nonlinear controller for a f degree of freedom (DOF) parallel manipulator in the task space coordinates. The proposed control strategy requires information on orientations and translations in the task space unlike the joint space or link space control scheme. Although a 6 DOF sensor may provide such information in a straightforward manner, its cost calls for a more economical alternative. A novel indirect method based on the readily available length information engages as a potential candidate to replace a 6 DOF sensor. The indirect approach generates the necessary information by solving the forward kinematics and subsequently applying alpha-beta-gamma tracker With the 6 DOF signals available, a robust nonlinear task space control (RNTC) scheme is proposed based on the Lyapunov redesign method, whose stability is rigorously proved. The performance of the proposed RNTC with the new estimation scheme is evaluated via experiments. First, the results of the estimator are compared with the rate-gyro signals, which indicates excellent agreement. Then, the RNTC with on-line estimated 6 DOF data is shown to achieve excellent control performance to sinusoidal inputs, which is superior to those of a commonly used proportional-plus-integral-plus-derivative controller with a feedforward friction compensation under joint space coordinates and the nonlinear controller under task space coordinates.

키워드

참고문헌

  1. Canudus de Wit, C, Siciliano, B., and Bastin, G. 1996, Theory of Robot Control, Springer-Verlag
  2. Corless, M.J. and Leitmann, G., 1981, 'Continuous State Feedback Guaranteeing Uniform Ultimate Boundedness for Uncertain Dynamic Systems,' IEEE Transactions on Automatic Control, Vol. 26, pp. 153-158
  3. Dieudonne, J. E., Parrish, R. V. and Bardusch, R. E., 1972, 'An Actuator Extension Transformation for a Motion Simulator and an Inverse Transformation applying Newton-Raphson Method,' NASA Technical Report D-7067
  4. Fichter, E. F., 1986, 'A Stewart Platform-Based Manipulator : General Theory and Practical Construction,' The International Journal of Robotics Research, Vol. 5, No. 2, pp. 157-182 https://doi.org/10.1177/027836498600500216
  5. Friedland, B., 1973, 'Optimum Steady-State Position and Velocity Estimation Using Sampled Position data,' IEEE Transactions on Aerospace and Electronic Systems, Vol. AES-9, No. 6, pp. 906-911 https://doi.org/10.1109/TAES.1973.309666
  6. Hahn, W., 1967, Stability of Motion, Springer-Verlag, New York
  7. Jung, G. H. and Lee, K. -I, 1994, 'Real-time Estimation of Stewart Platform Forward Kinematic Solution,' Transactions of the KSME, Vol. 18, No. 7, pp. 1632-1642
  8. Kang, J. -Y., Kim, D. H., and Lee, K. -I, 1996, 'Robust Tracking Control of Stewart Platform,' Proceedings of the 35th Conference of Decision and Control, Kobe, Japan, pp. 3014-3019 https://doi.org/10.1109/CDC.1996.573582
  9. Kang, J. -Y., Kim, D. H. and Lee, K. -I, 1998, 'Robust Estimator Design for Forward Kinematics Solution of a Stewart Platform,' Journal of Robotic Systems, Vol. 15, pp. 30-42 https://doi.org/10.1002/(SICI)1097-4563(199812)15:1<29::AID-ROB3>3.0.CO;2-U
  10. Khalil, H. K., 1996, Nonlinear Systems, Prentice-Hall, Englewood Cliffs, New Jersey
  11. Kim, D. H., Kang, J. -Y. and Lee, K. -I., 1999, 'Nonlinear Robust Control Design for a 6 DOF Parallel Robot,' KSME International Journal, Vol. 13, No. 7, pp. 557-568
  12. Kim, D. H., Kang, J. -Y. and Lee, K. -I., 2000, 'Robust Tracking Control Design for a 6 DOF Parallel Manipulator,' Journal of Robotic Systems, Vol. 17, pp. 527-547 https://doi.org/10.1002/1097-4563(200010)17:10<527::AID-ROB2>3.0.CO;2-A
  13. Lebret, G., Liu, K.'and Lewis, F. L., 1993, 'Dynamic Analysis and Control of a Stewart Platform Manipulator,' Journal of Robotic Systems, Vol. 10, No. 5, pp. 629-655 https://doi.org/10.1002/rob.4620100506
  14. Lewis, F., 1986, Optimal Estimation with an Introduction to Stochastic Control Theory, John Wiley and Sons, Inc., USA
  15. Merlet, J. P., 2000, Parallel Robots, Kluwer Academic Publisher, Netherlands
  16. Nguyen, C. C, Antrazi, S., Zhou, Z. -L. and Campbell, C, 1993, 'Adaptive Control of a Stewart Platform-Based Manipulator,' Journal of Robotic Systems, Vol. 10, No. 5, pp. 657-687 https://doi.org/10.1002/rob.4620100507
  17. Park, C. G., 1999, 'Analysis of Dynamics including Leg Inertia and Robust Controller Design for a Stewart Platform,' Ph. D. thesis, Seoul National University
  18. Radcliffe, C. J. and Southward, S. C, 1990, 'A Property of Stick-Slip Friction Models which Promotes Limit Cycle Generation,' Proceedings on American Control Conference, San Diego, CA, pp. 1198-1203
  19. Spong, M. W. and Vidyasagar, M., 1989, Robot Dynamics and Control, John Wiley & Sons, Inc.
  20. Ting, Y., Chen, Y. -S. and Wang, S. -M., 1999, 'Taskspace Control Algorithm for Stewart Platform,' Proceedings of the 38th Conference on Decision and Control, Phoenix, Arizona, pp. 3857-3862 https://doi.org/10.1109/CDC.1999.827959