Abstract
Control of flexible link parallel manipulators is still an open area of research. The flexibility and deformations of the limbs make the estimation of the Tool Center Point (TCP) position a non-trivial area, being one of the main challenges on this type of robots. In the literature different approaches to estimate this deformation and determine the location of the TCP have been proposed. However, most of these approaches require the use of high computational cost integration methods or expensive measurement systems. This work presents a novel approach which can not only estimate precisely the deformation of the flexible links (less than 3% error), but also its derivatives (less than 4% error). The validity of the developed estimator is tested in a Delta Robot, resulting in less than 0.025% error in the estimation of the TCP position in comparison with the results obtained with ADAMS Multibody software.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Bascetta, L., Rocco, P.: End-point vibration sensing of planar flexible manipulators through visual servoing. Mechatronics 16(3–4), 221–232 (2006). https://doi.org/10.1016/j.mechatronics.2005.11.005
Book, W.: Modeling, design, and control of flexible manipulator arms: a tutorial review. In: 29th IEEE Conference on Decision and Control, pp. 500–506, vol. 2. IEEE (1990). https://doi.org/10.1109/CDC.1990.203648
Chen, X., Li, Y., Deng, Y., Li, W., Wu, H.: Kinetoelastodynamics modeling and analysis of spatial parallel mechanism. Shock Vib. 2015, 1–10 (2015). https://doi.org/10.1155/2015/938314
Corke, P.I., Hutchinson, S.A.: Real-time vision, tracking and control. In: 2000 IEEE International Conference on Robotics and Automation, 1 April, pp. 622–629 (2000). https://doi.org/10.1109/ROBOT.2000.844122
Dubus, G.: On-line estimation of time varying capture delay for vision-based vibration control of flexible manipulators deployed in hostile environments. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3765–3770. IEEE (2010). https://doi.org/10.1109/IROS.2010.5651211
Gu, M., Asokanthan, S.F.: Combined discrete-distributed control of a single-link flexible manipulator using a Lyapunov approach. J. Dyn. Syst. Meas. Contr. 121(3), 448 (1999). https://doi.org/10.1115/1.2802495
Gu, M., Piedboeuf, J.C.: A flexible-link as an endpoint position and force detection unit. IFAC Proc. Volumes (IFAC-PapersOnline) 15(1), 361–366 (2002). https://doi.org/10.1016/S0967-0661(03)00105-9
Henriksson, R., Norrlof, M., Moberg, S., Wernholt, E., Schon, T.B.: Experimental comparison of observers for tool position estimation of industrial robots. In: Proceedings of the 48th IEEE Conference on Decision and Control (CDC) Held Jointly with 2009 28th Chinese Control Conference, pp. 8065–8070. IEEE (2009). https://doi.org/10.1109/CDC.2009.5400313
Hutchinson, S., Hager, G., Corke, P.: A tutorial on visual servo control. IEEE Trans. Robot. Autom. 12(5), 651–670 (1996). https://doi.org/10.1109/70.538972
Maia, N.M.M., Montalvao e Silva, J.M.J.M.: Theoretical and Experimental Modal Analysis. Research Studies Press (1997)
Merlet, J.: Parallel Robots, 2nd edn. Springer Science & Business Media (2006)
Piedboeuf, J.C.: The jacodian matrix for a flexble manipulator. J. Robotic Syst. 12(11), 709–726 (1995). https://doi.org/10.1002/rob.4620121102
Rodriguez-Donate, C., Morales-Velazquez, L., Osornio-Rios, R.A., Herrera-Ruiz, G., Romero-Troncoso, R.d.J.: FPGA-based fused smart sensor for dynamic and vibration parameter extraction in industrial robot links. Sensors 10(4), 4114–4129 (2010). https://doi.org/10.3390/s100404114
Rognant, M., Courteille, E., Maurine, P.: A systematic procedure for the elastodynamic modeling and identification of robot manipulators. IEEE Trans. Rob. 26(6), 1085–1093 (2010). https://doi.org/10.1109/TRO.2010.2066910
Trejo-Hernandez, M., Osornio-Rios, R.A., de Jesus Romero-Troncoso, R., Rodriguez-Donate, C., Dominguez-Gonzalez, A., Herrera-Ruiz, G.: FPGA-based fused smart-sensor for tool-wear area quantitative estimation in CNC machine inserts. Sensors 10(4), 3373–3388 (2010). https://doi.org/10.3390/s100403373
Zheng, J., Fu, M.: A reset state estimator using an accelerometer for enhanced motion control with sensor quantization. IEEE Trans. Control Syst. Technol. 18(1), 79–90 (2010). https://doi.org/10.1109/TCST.2009.2014467
Acknowledgement
This work was supported in part by the Spanish Ministry of Economy and Competitiveness under grant BES-2013-066142, UPV/EHU’s PPG17/56 projects, Spanish Ministry of Economy and Competitiveness’ MINECO & FEDER inside DPI-2012-32882 project and the Basque Country Government’s (GV/EJ) under PRE-2014-1-152 and BFI-2012-223 grants and under recognized research group IT914-16.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer International Publishing AG
About this paper
Cite this paper
Bengoa, P., Zubizarreta, A., Cabanes, I., Mancisidor, A., Pinto, C. (2018). Kinematic Estimator for Flexible Links in Parallel Robots. In: Ollero, A., Sanfeliu, A., Montano, L., Lau, N., Cardeira, C. (eds) ROBOT 2017: Third Iberian Robotics Conference. ROBOT 2017. Advances in Intelligent Systems and Computing, vol 694. Springer, Cham. https://doi.org/10.1007/978-3-319-70836-2_58
Download citation
DOI: https://doi.org/10.1007/978-3-319-70836-2_58
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-70835-5
Online ISBN: 978-3-319-70836-2
eBook Packages: EngineeringEngineering (R0)