The motion accuracy of a heavy duty parallel manipulator is usually low due to time lag and the difficulty to real-time measure the position of the end-effector. In this paper, a dynamic modeling of this system with consideration of the link flexible deformation is proposed, and a double-feedforward control is presented. The link deformation is considered in the kinematic model. Taking link deformation into account, the dynamic model is derived for real-time application, and the inverse dynamic compensator is designed. The zero phase error tracking controller (ZPETC) is introduced as the second compensator. The system stability is investigated by simulations. The control method is compared with the kinematic-based control without consideration of link deformation. The results show that the maximum contouring error reduces from 7.5mm to 10μm. Thus, the tracking performance is improved when using the method proposed in this paper.

References

References
1.
Chung
,
G. J.
,
Kim
,
D. H.
,
Shin
,
H.
, and
Ko
,
H. J.
,
2010
, “
Structural Analysis of 600 Kgf Heavy Duty Handling Robot
,”
IEEE International Conference on Robotics Automation and Mechatronics
, Singapore, pp.
40
45
.
2.
Yan
,
C.
,
Gao
,
F.
, and
Zhang
,
Y.
,
2010
, “
Kinematic Modeling of a Serial–Parallel Forging Manipulator With Application to Heavy-Duty Manipulations
,”
Mech. Based Des. Struct. Mach.
,
38
(
1
), pp.
105
129
.10.1080/15397730903455344
3.
Wu
,
J.
,
Wang
,
J. S.
,
Wang
,
L. P.
, and
Li
,
T. M.
,
2009
, “
Dynamics and Control of a Planar 3-DOF Parallel Manipulator With Actuation Redundancy
,”
Mech. Mach. Theory
,
44
(
4
), pp.
835
849
.10.1016/j.mechmachtheory.2008.04.002
4.
Wu
,
J.
,
Chen
,
X. L.
,
Wang
,
L. P.
, and
Liu
,
X. J.
,
2014
, “
Dynamic Load-Carrying Capacity of a Novel Redundantly Actuated Parallel Conveyor
,”
Nonlinear Dyn.
,
78
(
1
), pp.
241
250
.10.1007/s11071-014-1436-8
5.
Dwivedy
,
S. K.
, and
Eberhard
,
P.
,
2006
, “
Dynamic Analysis of Flexible Manipulators—A Literature Review
,”
Mech. Mach. Theory
,
41
(
7
), pp.
749
777
.10.1016/j.mechmachtheory.2006.01.014
6.
Thanh
,
T. D.
,
Kotlarski
,
J.
,
Heimann
,
B.
, and
Ortmaier
,
T.
,
2012
, “
Dynamics Identification of Kinematically Redundant Parallel Robots Using the Direct Search Method
,”
Mech. Mach. Theory
,
52
(
6
), pp.
277
295
.10.1016/j.mechmachtheory.2012.02.002
7.
Wu
,
J.
,
Li
,
T. M.
,
Wang
,
J. S.
, and
Wang
,
L. P.
,
2013
, “
Stiffness and Natural Frequency of a 3-DOF Parallel Manipulator With Consideration of Additional Leg Candidates
,”
Rob. Auton. Syst.
,
61
(
8
), pp.
868
875
.10.1016/j.robot.2013.03.001
8.
Zhu
,
Z.
,
Li
,
J.
,
Gan
,
Z.
, and
Zhang
,
H.
,
2005
, “
Kinematic and Dynamic Modelling for Real-Time Control of Tau Parallel Robot
,”
Mech. Mach. Theory
,
40
(
9
), pp.
1051
1067
.10.1016/j.mechmachtheory.2004.12.024
9.
Da Silva
,
M. M.
,
Brüls
,
O.
,
Desmet
,
W.
, and
Van Brussel
,
H.
,
2009
, “
Integrated Structure and Control Design for Mechatronic Systems With Configuration-Dependent Dynamics
,”
Mechatronics
,
19
(
6
) pp.
1016
1025
.10.1016/j.mechatronics.2009.06.006
10.
Paccot
,
F.
,
Andreff
,
N.
, and
Martinet
,
P.
,
2009
, “
A Review on the Dynamic Control of Parallel Kinematic Machines: Theory and Experiments
,”
Int. J. Rob. Res.
,
28
(
3
), pp.
395
416
.10.1177/0278364908096236
11.
Fang
,
S.
,
Franitza
,
D.
,
Torlo
,
M.
,
Bekes
,
F.
, and
Hiller
,
M.
,
2004
, “
Motion Control of a Tendon-Based Parallel Manipulator Using Optimal Tension Distribution
,”
IEEE/ASME Trans. Mechatronics
,
9
(
3
), pp.
561
568
.10.1109/TMECH.2004.835336
12.
Grotjahn
,
M.
, and
Heimann
,
B.
,
2002
, “
Model-Based Feed-Forward Control in Industrial Robotics
,”
Int. J. Rob. Res.
,
21
(
1
), pp.
99
114
.10.1177/027836402320556476
13.
Burdet
,
E.
,
Honegger
,
M.
, and
Codourey
,
A.
,
2000
, “
Controllers With Desired Dynamic Compensation and Their Implementation on a 6 DOF Parallel Manipulator
,”
IEEE International Conference on Intelligent Robots and Systems
, Takamatsu, Japan, pp.
39
45
.
14.
Matsubara
,
A.
,
Nagaoka
,
K.
, and
Fujita
,
T.
,
2011
, “
Model-Reference Feedforward Controller Design for High-Accuracy Contouring Control of Machine Tool Axes
,”
CIRP Ann. Manuf. Technol.
,
60
(
1
), pp.
415
418
.10.1016/j.cirp.2011.03.029
15.
Le
,
A. Y.
,
Mills
,
J. K.
, and
Benhabib
,
B.
,
2014
, “
Dynamic Modeling and Control Design for a Parallel-Mechanism-Based Meso-Milling Machine Tool
,”
Robotica
,
32
(
4
), pp.
515
532
.10.1017/S0263574713000842
16.
Lin
,
C.-Y.
, and
Chen
,
P.-Y.
,
2011
, “
Precision Tracking Control of a Biaxial Piezo Stage Using Repetitive Control and Double-Feedforward Compensation
,”
Mechatronics
,
21
(
1
), pp.
239
249
.10.1016/j.mechatronics.2010.11.002
17.
López de Lacalle
,
L. N.
, and
Lamikiz
,
A.
,
2009
,
Machine Tools for High Performance Machining
,
Springer
,
New York
.
18.
Da Silva
,
M. M.
,
De Oliveira
,
L. P. R.
,
Brüls
,
O.
,
Michelin
,
M.
,
Baradat
,
C.
,
Tempier
,
O.
,
De Caigny
,
J.
,
Swevers
,
J.
,
Desmet
,
W.
, and
Van Brussel
,
H.
,
2010
, “
Integrating Structural and Input Design of a 2-DOF High-Speed Parallel Manipulator: A Flexible Model-Based Approach
,”
Mech. Mach. Theory
,
45
(
2
), pp.
1509
1519
.10.1016/j.mechmachtheory.2010.07.002
19.
Muller
,
A.
, and
Hufnagel
,
T.
,
2012
, “
Model-Based Control of Redundantly Actuated Parallel Manipulators in Redundant Coordinates
,”
Rob. Auton. Syst.
,
60
(
1
), pp.
563
571
.10.1016/j.robot.2011.11.014
20.
Chang
,
P.
,
2008
, “
Accuracy Analysis and Kinematic Calibration of Planar Parallel Kinematic Machines
,” Ph.D. dissertation, Tsinghua University, Beijing, China.
21.
Tomizuka
,
M.
,
1987
, “
Zero Phase Error Tracking Algorithm for Digital Control
,”
J. Dyn. Syst. Measurement Control
,
109
(
1
), pp.
65
68
.10.1115/1.3143822
22.
Heikkala
,
J.
,
1995
, “
Determining of Cutting of Cutting-Force Components in Face Milling
,”
J. Mater. Process. Technol.
,
52
(
1
), pp.
1
8
.10.1016/0924-0136(94)01429-5
You do not currently have access to this content.