Error analysis and control scheme for the error correction in trajectory-tracking of a planar 2PRP-PPR parallel manipulator. (October 2017)

• Record Type: Journal Article
• Authors: Mohan, Santhakumar
• Is Part Of: Mechatronics. Volume 46(2017)
• Page Start: 70
• Page End: 83
• Publication Date: 2017-10
• Subjects: Planar parallel manipulators -- Pose error analysis -- Cascaded control -- Error compensation -- Trajectory-tracking control -- Mechanical inaccuracies; Computer integrated manufacturing systems -- Periodicals; Flexible manufacturing systems -- Periodicals; Mechatronics -- Periodicals; Productique -- Périodiques; Fabrication, Systèmes flexibles de -- Périodiques; Mécatronique -- Périodiques; Computer integrated manufacturing systems; Flexible manufacturing systems; Mechatronics; Periodicals; 629.89
• DOI: 10.1016/j.mechatronics.2017.07.003
• Languages: English
• ISSNs: 0957-4158

Abstract

Highlights: Motion accuracy of a planar 2PRP-2PPR parallel manipulator is investigated. A robust end-effector pose error correction control scheme is also proposed. The proposed control scheme is a dual-loop control scheme. It corrects the joint space positions based on task-space measurements. The proposed control scheme is simple and easy to use. Abstract: This paper presents the end-effector pose error modeling and motion accuracy analysis of a planar 2PRP-PPR parallel manipulator with an unsymmetrical (U-shape) fixed base. The error model is established based on the screw theory with considerations of both configuration (geometrical) errors and joint clearances. It also proposes a robust cascaded control scheme for the end-effector pose (task-space) error correction in trajectory-tracking of the manipulator due to mechanical inaccuracies. The proposed control scheme uses redundant sensor feedback, i.e., individual active joint displacements and velocities and, end-effector positions and orientation are obtained as feedback signals using appropriate sensors. To demonstrate the efficacy and show complete performance of the proposed controller, real-time experiments are accomplished on an in-house fabricated planar 2PRP-PPR parallel manipulator.