Abstract
The parallel robots exhibit some outstanding properties on the repeatability, stiffness and force-to-weight ratio compared with serial robots. 6-DOF parallel robots have been utilized in various applications and the research on control design has attracted the attentions of researchers. However, the current Cartesian space path tracking performance of the parallel robots cannot meet the growing requirements from industry. In this paper, a dynamic sliding mode control (DSMC) scheme combined with the position-based visual servoing (PBVS) method is proposed to improve the tracking performance of the 6-Revolute-Spherical-Spherical (6-RSS) parallel robot based on the measurements from the optical coordinate measuring machine (CMM) sensor. By employing the CMM sensor, the pose of the parallel robot in Cartesian space can be estimated and incorporated in a closed-loop visual servoing control scheme in real time. The stability of the proposed DSMC has been proved by using Lyapunov theorem. The real-time experiment tests on a 6-RSS parallel robot demonstrate that the complex 6-dimension trajectory tracking can be achieved with high-accuracy. Compared with the classical kinematic level controllers, the proposed DSMC exhibits the superiority in terms of tracking performance and robustness.
Similar content being viewed by others
Data Availability
All authors Pengcheng Li, Tingting Shu, Wen-Fang Xie and Wei Tian guarantee that all data and materials as well as software application or custom code support our published claims and comply with field standards.
References
Merlet, J.-P.: Parallel robots. Springer Science & Business Media, Berlin (2012). https://doi.org/10.1007/1-4020-4133-0
Miletović, I., Pool, D.M., Stroosma, O., van Paassen, M.M., Chu, Q.P.: Improved stewart platform state estimation using inertial and actuator position measurements. Control. Eng. Pract. 62, 102–115 (2017). https://doi.org/10.1016/j.conengprac.2017.03.006
Fan, S., Fan, S., Lan, W., Song, G.: A new approach to enhance the stiffness of heavy-load parallel robots by means of the component selection. Robot. Comput. Integr. Manuf. 61, 101834 (2020). https://doi.org/10.1016/j.rcim.2019.101834
Bai, S., Teo, M.Y.: Kinematic calibration and pose measurement of a medical parallel manipulator by optical position sensors. J. Robot. Syst. 20 (4), 201–209 (2003). https://doi.org/10.1002/rob.10081
Wang, J., Masory, O.: On the accuracy of a stewart platform. i. the effect of manufacturing tolerances. In: Proceedings of IEEE international conference on robotics and automation, Atlanta, USA, pp 114–120. IEEE (1993). https://doi.org/10.1109/ROBOT.1993.291970
Andreff, N., Dallej, T., Martinet, P.: Image-based visual servoing of a gough-stewart parallel manipulator using leg observations. Int. J. Robot. Res. 26(7), 677–687 (2007). https://doi.org/10.1177/0278364907080426
Raghavan, M.: The stewart platform of general geometry has 40 configurations. J. Mech. Des. 115(2), 277–282 (1993). https://doi.org/10.1115/1.2919188
Abdellatif, H., Heimann, B.: Advanced model-based control of a 6-dof hexapod robot A case study. IEEE/ASME Trans. Mechatron. 15(2), 269–279 (2010). https://doi.org/10.1109/Tmech.2009.2024682
Guo, HongBo, Liu, YongGuang, Liu, GuiRong, Li, HongRen: Cascade control of a hydraulically driven 6-dof parallel robot manipulator based on a sliding mode. Control Eng. Pract. 16(9), 1055–1068 (2008). https://doi.org/10.1016/j.conengprac.2007.11.005
Andreff, N., Martinet, P.: Unifying kinematic modeling, identification, and control of a gough–stewart parallel robot into a vision-based framework. IEEE Trans. Robot. 22 (6), 1077–1086 (2006). https://doi.org/10.1109/TRO.2006.882931
Yang, C., Huang, Q., Han, J.: Decoupling control for spatial six-degree-of-freedom electro-hydraulic parallel robot. Robot. Comput. Integr. Manuf. 28(1), 14–23 (2012). https://doi.org/10.1016/j.rcim.2011.06.002
Dahmouche, R., Andreff, N., Mezouar, Y., Ait-Aider, O., Martinet, P.: Dynamic visual servoing from sequential regions of interest acquisition. Int. J. Robot. Res. 31(4), 520–537 (2012). https://doi.org/10.1177/0278364911436082
Andreff, N., Martinet, P.: Visually servoing a gough-stewart parallel robot allows for reduced and linear kinematic calibration. In: Proceedings of the second international conference on informatics in control, pp 119–124. Barcelona, Spain (2005). https://doi.org/10.5220/0001174301190124
Hashimoto, K.: A review on vision-based control of robot manipulators. Adv. Robot. 17(10), 969–991 (2003). https://doi.org/10.1163/156855303322554382
Chaumette, F., Hutchinson, S.: Visual servo control. i. basic approaches. IEEE Robot. Autom. Mag. 13(4), 82–90 (2006). https://doi.org/10.1109/MRA.2006.250573
Andreff, N., Martinet, P.: Vision-based self-calibration and control of parallel kinematic mechanisms without proprioceptive sensing. Intell. Serv. Robot. 2(2), 71–80 (2009). https://doi.org/10.1007/s11370-009-0034-y
Shu, T., Gharaaty, S., Xie, W.F., Joubair, A., Bonev, I.A.: Dynamic path tracking of industrial robots with high accuracy using photogrammetry sensor. IEEE/ASME Trans. Mechatron. 23(3), 1159–1170 (2018). https://doi.org/10.1109/Tmech.2018.2821600
Li, P., Zeng, R., Xie, Wen F., Zhang, X.: Relative posture-based kinematic calibration of a 6-rss parallel robot by optical coordinate measurement machine. Int. J. Adv. Robot. Syst. 15(2), 1729881418765861 (2018). https://doi.org/10.1177/1729881418765861
Li, P., Ghasemi, A., Xie, W.F., Tian, W.: Visual closed-loop dynamic model identification of parallel robots based on optical cmm sensor. Electronics 8(8), 836 (2019). https://doi.org/10.3390/electronics8080836
Trasloheros, A., Sebastián, J.M., Torrijos, J., Carelli, R., Roberti, F.: Using a 3dof parallel robot and a spherical bat to hit a ping-pong ball. Int. J. Adv. Robot. Syst. 11(5), 76 (2014). https://doi.org/10.5772/58526
Coronado, E., Maya, M., Cardenas, A., Guarneros, O., Piovesan, D.: Vision-based control of a delta parallel robot via linear camera-space manipulation. J. Intell. Robot. Syst. 85(1), 93–106 (2017). https://doi.org/10.1007/s10846-016-0413-5
Briot, S., Martinet, P., Rosenzveig, V.: The hidden robot: an efficient concept contributing to the analysis of the controllability of parallel robots in advanced visual servoing techniques. IEEE Trans. Robot. 31(6), 1337–1352 (2015). https://doi.org/10.1109/Tro.2015.2489499
Qi, Z., McInroy, J.E.: Improved image based visual servoing with parallel robot. J. Intell. Robot. Syst. 53(4), 359–379 (2008). https://doi.org/10.1007/s10846-008-9245-2
Paccot, F., Lemoine, P., Andreff, N., Chablat, D., Martinet, P.: A vision-based computed torque control for parallel kinematic machines. In: Proceedings of IEEE international conference on robotics and automation, Pasadena, USA, pp 1556–1561. IEEE (2008). https://doi.org/10.1109/ROBOT.2008.4543423
Pi, Y., Wang, X.: Trajectory tracking control of a 6-dof hydraulic parallel robot manipulator with uncertain load disturbances. Control. Eng. Pract. 19(2), 185–193 (Feb 2011). https://doi.org/10.1016/j.conengprac.2010.11.006
Qi, Z., McInroy, J.E., Jafari, F.: Trajectory tracking with parallel robots using low chattering, fuzzy sliding mode controller. J. Intell. Robot. Syst. 48(3), 333–356 (2007). https://doi.org/10.1007/s10846-006-9084-y
Zhao, Y.M., Lin, Y., Xi, F., Guo, S., Ouyang, P.: Switch-based sliding mode control for position-based visual servoing of robotic riveting system. J. Manuf. Sci. Eng. 139(4). https://doi.org/10.1115/1.4034681 (2017)
Parsapour, M., RayatDoost, S., Taghirad, H.D.: Position based sliding mode control for visual servoing system. In: Proceedings of the first RSI/ISM international conference on robotics and mechatronics, Tehran, Iran, pp 337–342. IEEE (2013). https://doi.org/10.1109/ICRoM.2013.6510129
Grotjahn, M., Heimann, B., Abdellatif, H.: Identification of friction and rigid-body dynamics of parallel kinematic structures for model-based control. Multibody Syst. Dyn. 11(3), 273–294 (2004). https://doi.org/10.1023/B:MUBO.0000029426.05860.c2
Hartley, R.I., Sturm, P.: Triangulation. Comput. Vis. Image Understand. 68(2), 146–157 (1997). https://doi.org/10.1006/cviu.1997.0547
Kanatani, K., Sugaya, Y., Niitsuma, H.: Triangulation from two views revisited: Hartley-sturm vs. optimal correction. In: Proceedings of the 19th British machine vision conference, pp 173–182. BMVA, Leeds (2008). https://doi.org/10.5244/C.22.18
Wilson, W.J., Hulls, C.C.W., Bell, G.S.: Relative end-effector control using cartesian position based visual servoing. IEEE Trans. Robot. Autom. 12(5), 684–696 (Oct 1996). https://doi.org/10.1109/70.538974
Yuan, J.S.C.: A general photogrammetric method for determining object position and orientation. IEEE Trans. Robot. Autom. 5(2), 129–142 (1989). https://doi.org/10.1109/70.88034
Belanger, P.R., Dobrovolny, P., Helmy, A., Zhang, X.: Estimation of angular velocity and acceleration from shaft-encoder measurements. Int. J. Robot. Res. 17(11), 1225–1233 (1998). https://doi.org/10.1177/027836499801701107
Wang, C., Lin, C.-Y., Tomizuka, M.: Statistical learning algorithms to compensate slow visual feedback for industrial robots. J. Dy.n Syst. Meas. Control 137(3), 031011 (2015). https://doi.org/10.1115/1.4027853
Simon, D.: Optimal state estimation: Kalman, H infinity, and nonlinear approaches. Wiley, Hoboken (2006). https://doi.org/10.1002/0470045345.ch11
Acknowledgements
This project was funded by the Natural Sciences and Engineering Research Council (NSERC) and the Fonds de recherche du Québec-Natrue et technologies (FRQNT).
Funding
This work was supported by Natural Sciences and Engineering Research Council of Canada (NSERC, Manu 602), Creaform, GE Aviation, and Consortium de Recherche et D’Innovation en Aérospatiale au Quebec (CRIAQ).
Author information
Authors and Affiliations
Contributions
All authors contributed to the study conception and design. Material preparation, data collection and analysis were performed by Pengcheng Li, Tingting Shu, Wen-Fang Xie and Wei Tian. The first draft of the manuscript was written by Pengcheng Li and all authors commented on previous versions of the manuscript. All authors read and approved the final manuscript.
Corresponding author
Ethics declarations
Conflict of Interests
Not Applicable.
Additional information
Publisher’s Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
About this article
Cite this article
Li, P., Shu, T., Xie, WF. et al. Dynamic Visual Servoing of A 6-RSS Parallel Robot Based on Optical CMM. J Intell Robot Syst 102, 40 (2021). https://doi.org/10.1007/s10846-021-01402-5
Received:
Accepted:
Published:
DOI: https://doi.org/10.1007/s10846-021-01402-5