Hostname: page-component-8448b6f56d-sxzjt Total loading time: 0 Render date: 2024-04-19T08:05:33.163Z Has data issue: false hasContentIssue false
  • English
  • Français

Perfect Torque Compensation of Planar 5R Parallel Robot in Point-to-Point Motions, Optimal Control Approach

Published online by Cambridge University Press:  13 October 2020

Mojtaba Riyahi Vezvari ,
Amin Nikoobin Open the ORCID record for Amin Nikoobin [Opens in a new window]  and
Ali Ghoddosian
Mojtaba Riyahi Vezvari
Affiliation:
Robotics and Control Research Laboratory, Faculty of Mechanical Engineering, Semnan University, Semnan, Iran. E-mail: mrv@semnan.ac.ir
Amin Nikoobin*
Affiliation:
Robotics and Control Research Laboratory, Faculty of Mechanical Engineering, Semnan University, Semnan, Iran. E-mail: mrv@semnan.ac.ir
Ali Ghoddosian
Affiliation:
Faculty of Mechanical Engineering, Semnan University, Semnan, Iran. E-mail: aghoddosian@semnan.ac.ir
*
*Corresponding author. E-mail: anikoobin@semnan.ac.ir
Get access Rights & Permissions [Opens in a new window]

Summary

In this paper, a new approach is presented for perfect torque compensation of the robot in point-to-point motions. The proposed method is formulated as an open-loop optimal control problem. The problem is defined as optimal trajectory planning with adjustable design parameters to compensate applied torques of a planar 5R parallel robot for a given task, perfectly. To illustrate the effectiveness of the approach, the obtained optimal path is used as the reference command in the experiment. The experimental outputs show that the performance index has been reduced by over 80% compared to the typical design of the robot.

Keywords

Planar 5R parallel robotCounterweightsPoint-to-point motionOptimal trajectoryOptimal controlTorque compensation
Type
Article
Information
Robotica , Volume 39 , Issue 7 , July 2021 , pp. 1163 - 1180
Copyright
© The Author(s), 2020. Published by Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Merlet, J. P., Parallel Robots (Springer Science & Business Media, Netherlands, 2006).Google Scholar
Tourajizadeh, H. and Gholami, O., “Optimal control and path planning of a 3PRS robot using indirect variation algorithm,” Robotica 38(5), 903–924 (2019).CrossRefGoogle Scholar
Huang, T., Li, Z., Li, M., Chetwynd, D. G. and Gosselin, C. M., “Conceptual design and dimensional synthesis of a novel 2-DOF translational parallel robot for pick-and-place operations,” J. Mech. Des. 126(3), 449–455 (2004).CrossRefGoogle Scholar
Pierrot, F., Krut, S., Baradat, C. and Nabat, V., “Par2: Aspatial mechanism for fast planar two-degree-of-freedom pick-and-place applications,” Meccanica 46(1), 239–248 (2011).Google Scholar
Huang, T., Liu, S., Mei, J. and Chetwynd, D. G., “Optimal design of a 2-DOF pick-and-place parallel robot using dynamic performance indices and angular constraints,” Mech. Mach. Theory 70, 246–253 (2013).CrossRefGoogle Scholar
Meng, Q., Xie, F. and Liu, X. J., “V2: A Novel Two Degree-of-Freedom Parallel Manipulator Designed for Pick-and-Place Operations,” IEEE International Conference on Robotics and Biomimetics (2017) pp. 1320–1327.Google Scholar
Sang, N. D., Matsuura, D., Sugahara, Y. and Takeda, Y., “Kinematic Design of Five-Bar Parallel Robot by Kinematically Defined Performance Index for Energy Consumption,” European Conference on Mechanism Science (2018) pp. 239–247.Google Scholar
Dincer, U. and Cevik, M., “Improved trajectory planning of an industrial parallel mechanism by a composite polynomial consisting of Bezier curves and cubic polynomials,” Mecha. Mach. Theory 132, 248–263 (2019).CrossRefGoogle Scholar
Chettibi, T., Lehtihet, H. E., Haddad, M. and Hanchi, S., “Minimum cost trajectory planning for industrial robots,” Eur. J. Mech. A/Sol. 23(4), 703–715 (2004).CrossRefGoogle Scholar
Gasparetto, A., Boscariol, P., Lanzutti, A. and Vidoni, R., “Trajectory planning in robotics,” Math. Comput. Sci. 6(3), 269–279 (2012).CrossRefGoogle Scholar
Lovlin, S., Abdullin, A., Tsvetkova, M. and Mamatov, A., “Real-Time Optimal Trajectory Planning for Precision Tracking Systems with Dynamic Constraints,” 26th International Workshop on Electric Drives: Improvement in Efficiency of Electric Drives (IEEE, 2019) pp. 1–6.Google Scholar
Luo, L. P., Yuan, C., Yan, R. J., Yuan, Q., Wu, J., Shin, K. S. and Han, C. S., “Trajectory planning for energy minimization of industry robotic manipulators using the Lagrange interpolation method,” Int. J. Precision Eng. Manuf. 16(5), 911–917 (2015).CrossRefGoogle Scholar
Boscariol, P. and Gasparetto, A., “Optimal trajectory planning for nonlinear systems: Robust and constrained solution,” Robotica 34(6), 1243–1259 (2016).CrossRefGoogle Scholar
Kucuk, S., “Optimal trajectory generation algorithm for serial and parallel manipulators,” Robot. Comput. Integr. Manuf. 48, 219–232 (2017).CrossRefGoogle Scholar
Bagheri, M. and Naseradinmousavi, P., “Novel analytical and experimental trajectory optimization of a 7-DOF baxter robot: Global design sensitivity and step size analyses,” Int. J. Adv. Manuf. Tech. 93(9–12), 4153–4167 (2017).CrossRefGoogle Scholar
Gong, S., Alqasemi, R. and Dubey, R., “Gradient Optimization of Inverse Dynamics for Robotic Manipulator Motion Planning Using Combined Optimal Control,” ASME International Mechanical Engineering Congress and Exposition (2017).Google Scholar
Nusbaum, U., Cohen, M. W. and Halevi, Y., “Minimum Energy Control of Redundant Systems Using Evolutionary Bi-Level Optimization,” ASME International Mechanical Engineering Congress and Exposition (2018).Google Scholar
Woolfrey, J., Lu, W. and Liu, D., “A control method for joint torque minimization of redundant manipulators handling large external forces,” J. Intell. Robot. Syst. 96(1), 3–16 (2019).CrossRefGoogle Scholar
Boscariol, P. and Richiedei, D., “Energy-efficient design of multipoint trajectories for Cartesian robots,” Int. J. Adv. Manuf. Tech. 102(5–8), 1853–1870 (2019).CrossRefGoogle Scholar
Quaglia, G. and Yin, Z., “Static balancing of planar articulated robots,” Front. Mech. Eng. 10(4), 326–343 (2015).CrossRefGoogle Scholar
Nikoobin, A. and Moradi, M., “Optimal balancing of the robotic manipulators,” In: Dynamic Balancing of Mechanisms and Synthesizing of Parallel Robots (Springer, 2016) pp. 337–363.Google Scholar
Nikoobin, A., Vezvari, M. R. and Ahmadieh, M., “Optimal Balancing of Planar Cable Robot in Point to Point Motion Using the Indirect Approach,” 3rd RSI International Conference on Robotics and Mechatronics (IEEE, 2015) pp. 499–504.Google Scholar
Vezvari, M. R. and Nikoobin, A., “Optimal balancing of spatial suspended cable robot in point-to-point motion using indirect approach,” Int. J. Adv. Des. Manuf. Tech. 10(3), 89–98 (2017). Google Scholar
Arakelian, V., “Gravity compensation in robotics,” Adv. Robot. 30(2), 79–96 (2016).CrossRefGoogle Scholar
Misaghi, H., Mahmoudi, A. and Masouleh, M. T., “Dynamic Analysis of a Planar Parallel Robot with the Purpose of Obtaining Optimal Inertial Parameters for Energy Consumption,” IEEE 4th International Conference on Knowledge-Based Engineering and Innovation (2017) pp. 0931–0936.Google Scholar
Moradi, M., Naraghi, M. and Kamali, A., “Simultaneous design of parameters and controller of robotic manipulators: Closed loop approach to practical implementation,” Adv. Robot. 32(3), 105–121 (2018).CrossRefGoogle Scholar
Nikoobin, A. and Moradi, M., “Analysis of optimal balancing for robotic manipulators in repetitive motions,” J. Dyn. Syst. Meas. Control 140(8), 1–8 (2018).CrossRefGoogle Scholar
Zhang, Y., Arakelian, V. and Le Baron, J. P., “Linkage Design for Gravity Balancing by Means of Non-zero Length Springs,” In: ROMANSY 22–Robot Design, Dynamics and Control (Springer, Rennes, France, 2019) pp. 163–170.CrossRefGoogle Scholar
Gupta, V., Saha, S. K. and Chaudhary, H., “Optimum design of serial robots,” J. Mech. Des. 141(8), 1–12 (2019).CrossRefGoogle Scholar
Martini, A., Troncossi, M. and Rivola, A., “Algorithm for the static balancing of serial and parallel mechanisms combining counterweights and springs: Generation, assessment and ranking of effective design variants,” Mech. Mach. Theory 137, 336–354 (2019).CrossRefGoogle Scholar
Kirk, D., An Introduction to Optimal Control Theory (Prentice Hall, Englewood Cliffs, NI, 1970).Google Scholar
Korayem, M. H. and Nikoobin, A., “Maximum payload for flexible joint manipulators in point-to-point task using optimal control approach,” Int. J. Adv. Manuf. Tech. 38(9–10), 1045–1060 (2008).CrossRefGoogle Scholar
Korayem, M. H. and Nikoobin, A., “Maximum payload path planning for redundant manipulator using indirect solution of optimal control problem,” Int. J. Adv. Manuf. Tech. 44(7–8), 725 (2009).CrossRefGoogle Scholar
Korayem, M. H. and Tourajizadeh, H., “Maximum DLCC of spatial cable robot for a predefined trajectory within the workspace using closed loop optimal control approach,” J. Intell. Robot. Syst. 63(1), 75–99 (2011).CrossRefGoogle Scholar
Korayem, M. H., Nazemizadeh, M. and Rahimi, H. N., “Trajectory optimization of nonholonomic mobile manipulators departing to a moving target amidst moving obstacles,” Acta Mechanica 224(5), 995–1008 (2013).CrossRefGoogle Scholar
Rahaghi, M. I. and Barat, F., “Solving nonlinear optimal path tracking problem using a new closed loop direct–indirect optimization method: Application on mechanical manipulators,” Robotica 37(1), 39–61 (2019).CrossRefGoogle Scholar
Liu, X. J., Wang, J. and Pritschow, G., “Kinematics, singularity and workspace of planar 5R symmetrical parallel mechanisms,” Mech. Mach. Theory 41(2), 145–169 (2006).CrossRefGoogle Scholar
Alici, G. and Shirinzadeh, B., “Optimum dynamic balancing of planar parallel manipulators based on sensitivity analysis,” Mech. Mach. Theory 41(12), 1520–1532 (2006).CrossRefGoogle Scholar