Dynamics and iterative learning control of robots with parallel kinematical structures / Bodo Heimann and Houssem Abdellatif

The paper deals with model-based control of robots with parallel kinematical structure (PKM). At first, an approach for the identification of friction and rigid-body dynamics of complex parallel kinematical structures is presented. The approach is based on optimal excitation trajectories. The trajec...

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Main Authors:	Heimann, Bodo, Abdellatif, Houssem
Format:	Article
Language:	English
Published:	Faculty of Mechanical Engineering and University Publication Centre (UPENA) 2009
Online Access:	http://ir.uitm.edu.my/id/eprint/17620/ http://ir.uitm.edu.my/id/eprint/17620/1/AJ_BODO%20HEIMANN%20JME%2009.pdf

id	uitm-17620
recordtype	eprints
spelling	uitm-176202019-12-24T03:34:26Z http://ir.uitm.edu.my/id/eprint/17620/ Dynamics and iterative learning control of robots with parallel kinematical structures / Bodo Heimann and Houssem Abdellatif Heimann, Bodo Abdellatif, Houssem The paper deals with model-based control of robots with parallel kinematical structure (PKM). At first, an approach for the identification of friction and rigid-body dynamics of complex parallel kinematical structures is presented. The approach is based on optimal excitation trajectories. The trajectories are bounded, such they are easy to befit into the small and hard constraint workspace of PKM. Secondly, some results are presented using feedforward control in order to compensate nonlinear dynamical influences. Thirdly, Iterative Learning Control (ILC) is proposed in this paper for tracking accuracy enhancement of a parallel direct driven manipulator. It is shown both by means of simulation study and experimental results that linear ILC is appropriate for application to the considered high nonlinear and coupled systems. Faculty of Mechanical Engineering and University Publication Centre (UPENA) 2009 Article PeerReviewed text en http://ir.uitm.edu.my/id/eprint/17620/1/AJ_BODO%20HEIMANN%20JME%2009.pdf Heimann, Bodo and Abdellatif, Houssem (2009) Dynamics and iterative learning control of robots with parallel kinematical structures / Bodo Heimann and Houssem Abdellatif. Journal of Mechanical Engineering, 6 (1). pp. 43-65. ISSN 1823-5514
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Teknologi MARA
building	UiTM Institutional Repository
collection	Online Access
language	English
description	The paper deals with model-based control of robots with parallel kinematical structure (PKM). At first, an approach for the identification of friction and rigid-body dynamics of complex parallel kinematical structures is presented. The approach is based on optimal excitation trajectories. The trajectories are bounded, such they are easy to befit into the small and hard constraint workspace of PKM. Secondly, some results are presented using feedforward control in order to compensate nonlinear dynamical influences. Thirdly, Iterative Learning Control (ILC) is proposed in this paper for tracking accuracy enhancement of a parallel direct driven manipulator. It is shown both by means of simulation study and experimental results that linear ILC is appropriate for application to the considered high nonlinear and coupled systems.
format	Article
author	Heimann, Bodo Abdellatif, Houssem
spellingShingle	Heimann, Bodo Abdellatif, Houssem Dynamics and iterative learning control of robots with parallel kinematical structures / Bodo Heimann and Houssem Abdellatif
author_facet	Heimann, Bodo Abdellatif, Houssem
author_sort	Heimann, Bodo
title	Dynamics and iterative learning control of robots with parallel kinematical structures / Bodo Heimann and Houssem Abdellatif
title_short	Dynamics and iterative learning control of robots with parallel kinematical structures / Bodo Heimann and Houssem Abdellatif
title_full	Dynamics and iterative learning control of robots with parallel kinematical structures / Bodo Heimann and Houssem Abdellatif
title_fullStr	Dynamics and iterative learning control of robots with parallel kinematical structures / Bodo Heimann and Houssem Abdellatif
title_full_unstemmed	Dynamics and iterative learning control of robots with parallel kinematical structures / Bodo Heimann and Houssem Abdellatif
title_sort	dynamics and iterative learning control of robots with parallel kinematical structures / bodo heimann and houssem abdellatif
publisher	Faculty of Mechanical Engineering and University Publication Centre (UPENA)
publishDate	2009
url	http://ir.uitm.edu.my/id/eprint/17620/ http://ir.uitm.edu.my/id/eprint/17620/1/AJ_BODO%20HEIMANN%20JME%2009.pdf
first_indexed	2023-09-18T22:58:41Z
last_indexed	2023-09-18T22:58:41Z
_version_	1777418026962911232

Dynamics and iterative learning control of robots with parallel kinematical structures / Bodo Heimann and Houssem Abdellatif

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