Open AccessCONTROLLER DESIGN BASED ON A KINEMATIC ESTIMATOR FOR A 3RRR PLANAR PARALLEL ROBOT DRIVEN BY ELECTRIC MOTORS
Author(s) -
Nguyen Hoang
Publication year - 2020
Publication title -
vietnam journal of science and technology/science and technology
Language(s) - English
Resource type - Journals
eISSN - 2815-5874
pISSN - 2525-2518
DOI - 10.15625/2525-2518/57/6a/14258
Subject(s) - kinematics , control theory (sociology) , estimator , controller (irrigation) , position (finance) , robot , control engineering , generalized coordinates , computer science , motion (physics) , motion control , forward kinematics , parallel manipulator , measure (data warehouse) , engineering , artificial intelligence , mathematics , inverse kinematics , control (management) , physics , mathematical analysis , statistics , finance , classical mechanics , database , agronomy , economics , biology
The control of parallel robotic manipulator requires feedbacks of all the redundant coordinates and their derivatives. In practice, to have all feedback variables for the controller, a robot needs more sensors than its degree of freedom. These sensors measure not only the actuated joint variables, but also the auxiliary variables, position and velocity of the moving platform. In this paper, a novel method is introduced to estimate dependently generalized coordinates and motion of the moving platform. A kinematic error feedback technique is exploited to ensure the estimated motion converge to the actual motion of the robot.