Tracking control of elastic joint parallel robots via state-dependent Riccati equation

Sinan KILIÇASLAN

Makale detayları

Tracking control of elastic joint parallel robots via state-dependent Riccati equation

Yazarlar:

Sinan KILIÇASLAN

Yayıncı:

TUBITAK

Dergi:

Turkish Journal of Electrical Engineering and Computer Science 2015 Vol.23 Issue 2, pp.522-538

Belge Tipi:

Makale

Yayın Tarihi:

3/2015

Belge Dili:

Türkçe

Document ID (Org No.):

2000742685

Sıklık:

İki Aylık

eISSN:

1303-6203

pISSN:

1300-0632

Özet:

 

In this study, a methodology for the tracking control of parallel robots  having elastic joints based on the state-dependent Riccati equation is  developed. Structural stiffness and damping characteristics of the joints  are modeled as torsional springs and dampers, respectively. First an  open-tree system is obtained by cutting some joints of the parallel robot  open and its dynamic equations are written. Closed loops are then  represented as constraint equations. The first and second derivatives of  dependent (unactuated) joint variables are expressed in terms of independent  (actuated) joint variables by making use of the constraint equations. Taking  the independent joint variables, the actuator variables, and their first  derivatives as state variables, the dynamic equations are represented in  state-dependent coefficient form. Finally, state-dependent Riccati equation  tracking control is presented. A 2-RRR planar parallel robot is taken into  consideration as an example to illustrate the effectiveness of the  state-dependent Riccati equation method for the control of parallel robots  having elastic joints.

 

In this study, a methodology for the tracking control of parallel robots  having elastic joints based on the state-dependent Riccati equation is  developed. Structural stiffness and damping characteristics of the joints  are modeled as torsional springs and dampers, respectively. First an  open-tree system is obtained by cutting some joints of the parallel robot  open and its dynamic equations are written. Closed loops are then  represented as constraint equations. The first and second derivatives of  dependent (unactuated) joint variables are expressed in terms of independent  (actuated) joint variables by making use of the constraint equations. Taking  the independent joint variables, the actuator variables, and their first  derivatives as state variables, the dynamic equations are represented in  state-dependent coefficient form. Finally, state-dependent Riccati equation  tracking control is presented. A 2-RRR planar parallel robot is taken into  consideration as an example to illustrate the effectiveness of the  state-dependent Riccati equation method for the control of parallel robots  having elastic joints.

Makale detayları

Tracking control of elastic joint parallel robots via state-dependent Riccati equation

Yazarlar: Sinan KILIÇASLAN

Yayıncı: TUBITAK

Dergi: Turkish Journal of Electrical Engineering and Computer Science 2015 Vol.23 Issue 2, pp.522-538

Belge Tipi: Makale

Yayın Tarihi: 3/2015

Belge Dili: Türkçe

Document ID (Org No.): 2000742685

Sıklık: İki Aylık

eISSN: 1303-6203

pISSN: 1300-0632

Sayı

Yazarlar:

Sinan KILIÇASLAN

Yayıncı:

TUBITAK

Dergi:

Turkish Journal of Electrical Engineering and Computer Science 2015 Vol.23 Issue 2, pp.522-538

Belge Tipi:

Makale

Yayın Tarihi:

3/2015

Belge Dili:

Türkçe

Document ID (Org No.):

2000742685

Sıklık:

İki Aylık

eISSN:

1303-6203

pISSN:

1300-0632