DSCC 2013 Paper Abstract

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Paper WeAT2.2

Sathia Narayanan, Madusudanan (School of Engineering, University at Buffalo), Krovi, Venkat N. (SUNY Buffalo)

Design of Input Shaping Control for Planar Parallel Manipulators

Scheduled for presentation during the Contributed session "Robotic Manipulators" (WeAT2), Wednesday, October 23, 2013, 10:35−10:55, Room 123

6th Annual Dynamic Systems and Control Conference, October 21-23, 2020, Stanford University, Munger Center, Palo Alto, CA

This information is tentative and subject to change. Compiled on March 29, 2024

Keywords Control applications, Mechanisms, Multibody systems

Abstract

Parallel manipulators are well known for superior stiffness, higher accuracy, lower inertia and faster response compared to the serial counterparts and hence is widely used for high-speed machining and heavy load applications. However, controller limitations as well as design constraints can result in unoptimized designs causing unsettling residual vibrations at the end effector and limit their applications. Though many have discussed vibration attenuation by improving the structural design, augmenting with redundant sensors/ dampers and advanced feedback control methods for serial and mobile manipulators, very few investigated such techniques for parallel manipulators (PM). In this manuscript, we evaluate a specific type of feed-forward technique for planar PM. Lagrangian based dynamic models of platform manipulators and a simple trajectory level proportional derivative control will be used with the gains tuned to force oscillations at the end effector to ensure stability with bounded constraints on controller gains. We will then demonstrate the applicability of basic input shapers for PM based on computation of natural frequencies and damping ratio for each mode, and resulting improvements in terms of appropriate performance measures.

 

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