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(16)
Now,
Some applications for nonlinear processes of a predictive control algorithm
309
2
2
2
1
2
3
2
2
2
1 2 2 1
cos
e e
e e e e e e
+
+
=
(17)
and
2
2
2
1
2
3
2
2
2
1 1 3 2
sin
e e
e e e e e e
+
+
=
(18)
Now this equation can easily be solved for any number of legs by simply changing the subscript i in
equations (17) and (18). For the particular robot there are two possible solutions given by the solutions to
equations (17) and (18). The two solutions are called elbow left and elbow right corresponding to and
. In practice, the atan2 command is used to find the solution in the proper quadrant. When the roots are
imaginary (i.e. there is no real solution) for some given pose, it means that the position/orientation of that
configuration is outside the reachable workspace.
+
Figure 5. Configuration of the 3-RRR planar parallel minirobot for x=0.2, y=0.15, =45
C. Simulation results for the 3-RRR planar parallel minirobot
Simulation of the parallel robot was made in SimMechanics. SimMechanics is a toolbox from
Matlab/Simulink.
Figure 6. SimMechanics control scheme of the parallel robot 3-RRR
Radu BLAN, Vistrian MTIE, Sergiu STAN
310
Control scheme describes the mechanical structure of the robot together three controllers of type PID
(Fig. 6). Driving joints are actuated by rotation actuators. To each joint it is attached a position sensor.
Figure 7. The blocks SimMechanics Joint Actuator, Joint Sensor and Scope
Figure 8. 3D visualization of the 3-RRR parallel robot in SimMechanics
Figure 9. Simulation results for independent PID control of 3-RRR planar parallel minirobot
Some applications for nonlinear processes of a predictive control algorithm
311
Numerous control techniques are described in literature for serial manipulators. They include joint
space control, task space control, impedance control, and model based control.
Because parallel manipulators result in a loss of full constraint at singular configurations, any control
applied to a parallel manipulator must avoid such configurations.
Simple independent joint control is a practical approach to robot control. Linear PID compensators are
commercially available; this provides a reliable source for industrial applications, where availability of
replacement parts and operational reliability is important.
The results of the simulation for 3-RRR parallel robot for PID controllers is presented in fig.9. The
simulation results are for Kp = 2500, Kd = 35, and Ki = 1500.
4. CONCLUSIONS
In the paper was presented an approach and concept to control a mechatronic system. Robots may be
considered as typical mechatronic systems. The control was applied on a planar parallel robot with 3 DOF.
The control was achieved based on SimMechanics toolbox of Matlab/Simulink. A method for determining
the inverse kinematics of the 3-RRR planar parallel minirobot was presented. Planar parallel robots have
great potential for microminiaturization using processing technology developed for microsystems, because
their components move on parallel planes and are connected by simple joints.
REFERENCES
1. MERLET, J-P., The parallel robots, Kluwer Academic Publ., The Netherland, 2000
2. STAN, S., Diplomarbeit, Analyse und Optimierung der strukturellen Abmessungen von Werkzeugmaschinen mit Parallelstruktur,
IWF-TU Braunschweig, 2003, Germany.
3. TSAI, L.-W. Robot Analysis. The Mechanics of Serial and Parallel Manipulators. John Wiley & Sons, 1st edition, 1999.
4. LIPKIN, H., DUFFY, J. A vector analysis of robot manipulators. In G. Beni and S. Hackwood, editors, Recent Advances in
Robotics, pages 175-241. John Wiley & Sons, New York, 1985.
5. CHAN, V. K., Singularity Analysis and Redundant Actuation of Parallel Manipulators, PhD Thesis, Georgia Institute of
Technology, March 2001.
6. MATLAB DOCUMENTATION, www.mathworks.com