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Performance analysis of the computed torque based active force control for a planar parallel manipulator

This paper presents a novel approach to control a 3-RRR (revolute-revolute-revolute) planar parallel manipulator applying an active force control (AFC) strategy. A PID-based computed torque controller (CTC) was first designed and developed to demonstrate the basic and stable response of the manipula...

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Main Authors: Noshadi, Amin, Zolfagharian, Ali, Wang, Gang
Format: Article
Published: Scientific.Net 2012
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TJ Mechanical engineering and machinery
Online Access:http://eprints.utm.my/id/eprint/47365/
http://dx.doi.org/10.4028/www.scientific.net/AMM.110-116.4932
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spelling my.utm.473652019-03-31T08:38:25Z http://eprints.utm.my/id/eprint/47365/ Performance analysis of the computed torque based active force control for a planar parallel manipulator Noshadi, Amin Zolfagharian, Ali Wang, Gang TJ Mechanical engineering and machinery This paper presents a novel approach to control a 3-RRR (revolute-revolute-revolute) planar parallel manipulator applying an active force control (AFC) strategy. A PID-based computed torque controller (CTC) was first designed and developed to demonstrate the basic and stable response of the manipulator in order to follow a prescribed trajectory. Then, the AFC part was incorporated into the control scheme in series with the CTC (AFC-CTC) in a cascade form. Performance of the system was demonstrated by the computer simulation results. By using the AFC method, the design of trajectory tracking controller can be conducted based on a precise model of the system. The overall tracking performance was improved with using AFC scheme in presence of known or unknown disturbances. Results clearly illustrate the robustness and effectiveness of the proposed AFC-based scheme as a robust disturbance rejecter compared to the conventional CT controller. Scientific.Net 2012 Article PeerReviewed Noshadi, Amin and Zolfagharian, Ali and Wang, Gang (2012) Performance analysis of the computed torque based active force control for a planar parallel manipulator. Applied Mechanics And Materials, 110-11 . pp. 4932-4940. ISSN 1660-9336 http://dx.doi.org/10.4028/www.scientific.net/AMM.110-116.4932 DOI:10.4028/www.scientific.net/AMM.110-116.4932
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
topic TJ Mechanical engineering and machinery
spellingShingle TJ Mechanical engineering and machinery
Noshadi, Amin
Zolfagharian, Ali
Wang, Gang
Performance analysis of the computed torque based active force control for a planar parallel manipulator
description This paper presents a novel approach to control a 3-RRR (revolute-revolute-revolute) planar parallel manipulator applying an active force control (AFC) strategy. A PID-based computed torque controller (CTC) was first designed and developed to demonstrate the basic and stable response of the manipulator in order to follow a prescribed trajectory. Then, the AFC part was incorporated into the control scheme in series with the CTC (AFC-CTC) in a cascade form. Performance of the system was demonstrated by the computer simulation results. By using the AFC method, the design of trajectory tracking controller can be conducted based on a precise model of the system. The overall tracking performance was improved with using AFC scheme in presence of known or unknown disturbances. Results clearly illustrate the robustness and effectiveness of the proposed AFC-based scheme as a robust disturbance rejecter compared to the conventional CT controller.
format Article
author Noshadi, Amin
Zolfagharian, Ali
Wang, Gang
author_facet Noshadi, Amin
Zolfagharian, Ali
Wang, Gang
author_sort Noshadi, Amin
title Performance analysis of the computed torque based active force control for a planar parallel manipulator
title_short Performance analysis of the computed torque based active force control for a planar parallel manipulator
title_full Performance analysis of the computed torque based active force control for a planar parallel manipulator
title_fullStr Performance analysis of the computed torque based active force control for a planar parallel manipulator
title_full_unstemmed Performance analysis of the computed torque based active force control for a planar parallel manipulator
title_sort performance analysis of the computed torque based active force control for a planar parallel manipulator
publisher Scientific.Net
publishDate 2012
url http://eprints.utm.my/id/eprint/47365/
http://dx.doi.org/10.4028/www.scientific.net/AMM.110-116.4932
_version_ 1643652298459578368
score 13.211869

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