AI Article Synopsis
- The control of flexible link parallel manipulators is a challenge due to the difficulty in tracking the Tool Centre Point (TCP) caused by limb flexibility and deformations.
- Various existing methods to estimate this deformation are often costly or use complex calculations.
- A new virtual sensor approach is introduced, achieving high precision in estimating deformation and its derivatives, tested successfully on a Delta Robot with minimal error compared to traditional methods.
Article Abstract
The control of flexible link parallel manipulators is still an open area of research, endpoint trajectory tracking being one of the main challenges in this type of robot. The flexibility and deformations of the limbs make the estimation of the Tool Centre Point (TCP) position a challenging one. Authors have proposed different approaches to estimate this deformation and deduce the location of the TCP. However, most of these approaches require expensive measurement systems or the use of high computational cost integration methods. This work presents a novel approach based on a virtual sensor which can not only precisely estimate the deformation of the flexible links in control applications (less than 2% error), but also its derivatives (less than 6% error in velocity and 13% error in acceleration) according to simulation results. The validity of the proposed Virtual Sensor is tested in a Delta Robot, where the position of the TCP is estimated based on the Virtual Sensor measurements with less than a 0.03% of error in comparison with the flexible approach developed in ADAMS Multibody Software.
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Source |
|---|---|
| http://www.ncbi.nlm.nih.gov/pmc/articles/PMC5621090 | PMC |
| http://dx.doi.org/10.3390/s17091934 | DOI Listing |
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