Abstract
This paper presents a dual-loop control scheme based on an integral sliding mode control scheme for the task-space pose error correction in trajectory-tracking of a planar 3-PRP parallel manipulator due to mechanical inaccuracies. The proposed dual-loop control scheme uses redundant sensor feedback, i.e., individual active joint displacements, velocities (at the joint-space level) and, end-effector positions and orientation (at the task-space level) are obtained as feedback signals using appropriate sensors. Using the redundant feedback information, the actual pose errors of the end-effector are computed in the outer-loop (kinematic) control and rectified in joint-space inner-loop (dynamic) control to achieve the given desired task-space trajectory. To demonstrate the efficacy and show complete performance of the controllers, real-time experiments are executed on an in-house fabricated planar 3-PRP parallel manipulator. The experimentation results show that the manipulator tracing performance is considerably improved with the proposed dual-loop control scheme. In addition, the controller parameter sensitivity and robustness analyses are also accomplished.
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Mohan, S., Mohanta, J.K. Dual Integral Sliding Mode Control Loop for Mechanical Error Correction in Trajectory-Tracking of a Planar 3-PRP Parallel Manipulator. J Intell Robot Syst 89, 371–385 (2018). https://doi.org/10.1007/s10846-017-0553-2
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DOI: https://doi.org/10.1007/s10846-017-0553-2