Browse > Article
http://dx.doi.org/10.7735/ksmte.2016.25.5.354

Synchronization Error-based Control Approach for an Industrial High-speed Parallel Robot  

Do, Hyun Min (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials)
Kim, Byung In (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials)
Park, Chanhun (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials)
Kyung, Jin Ho (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials)
Publication Information
Journal of the Korean Society of Manufacturing Technology Engineers / v.25, no.5, 2016 , pp. 354-361 More about this Journal
Abstract
Parallel robots are usually used for performing pick-and-place motion to increase productivity in high-speed environments. The present study proposes a high-speed parallel robot and a control approach to improve the tracking performance for the purpose of handling a solar cell. However, the target processes are not limited to the solar cell-handling field. Therefore, a delta-type parallel manipulator is designed, and a ball joint structure is specifically proposed to increase the allowed angle that would meet the required workspace. A control algorithm considering the synchronization between multiple joints in a closed-chain mechanism is also suggested to improve the tracking performance, where the tracking and synchronization errors are simultaneously considered. In addition, a prototype machine with the proposed ball joint is implemented. A satisfactory tracking performance is achieved by applying the proposed control algorithm, with a cycle time of 0.3 s for a 0.1 kg payload.
Keywords
High-speed parallel robot; Synchronization; Ball joint; Tracking control;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 Boer, C. R., Molinari-Tosatti, L., Smith, K. S., 1999, Parallel Kinematic Machines, SpringerVerlag, Great Britain.
2 Merlet, J.-P., 2006, Parallel Robots, Springer, Netherlands.
3 Peirrot, F., Nabat, V., Company, O., Krut, S., Poignet, P., 2009, Optimal Design of a 4-DOF Parallel Manipulator: From Academia to Industry, IEEE Trans. Robot., 25:2 213-224.   DOI
4 Palpacelli, M. C., Carbonari, L., Palmieri, G., Callegari, M., 2015, Analysis and design of a reconfigurable 3-dof parallel manipulator for multimodal tasks, IEEE/ASME Trans. Mechatronics, 20:4 1975-1985.   DOI
5 Xie, F., Liu, X.-J., Wang, C., 2015, Design of a novel 3-DoF parallel kinematic mechanism: type synthesis and kinematic optimization, Robotica, 33:3 622-637.   DOI
6 Chiacchio, P., Pierrot, F., Sciavicco, L. Siciliano, B., 1993, Robust Design of Independent Joint Controllers with Experimentation on a High-Speed Parallel Robot, IEEE Trans. Ind. Electron., 40:4 393-403.   DOI
7 Li, Q., Wu, F. X., 2004, Control performance improvement of a parallel robot via the design for control approach, Mechatronics, 14:8 947-964.   DOI
8 Paccot, F., Andreff, N., Martinet, P., 2009, A review on the dynamic control of parallel kinematic machines: theory and experiments, International Journal of Robotics Research, 28:3 395-416.   DOI
9 Su, Y. X., Sun, D., Ren, L., Wang, X., Mills, J. K., 2005, Nonlinear PD Synchronized Control for Parallel Manipulators, IEEE Int'l Conf. Robot. Automat., 1386-1391.
10 Ren, L., Mills, J. K., Sun, D., 2007, Experimental Comparison of Control Approaches on Trajectory Tracking Control of a 3-DOF Parallel Robot, IEEE Trans. Contr. Syst. Technol., 15:5 982-988.   DOI
11 Shang, W., Cong, S., Zhang, Y., Liang, U., 2009, Active Joint Synchronization Control for a 2-DOF Redundantly Actuated Parallel Manipulator, IEEE Trans. Contr. Syst. Technol., 17:2 416-423.   DOI
12 ABB, A. B., 1999, Industrial robot, WO Patent: 2000035640.
13 Kim, B. I., Kyung, J. H., Do, H. M., Jo., S. H., 2013, A Study on the Design of High-speed Parallel Robot, J. Korean Soc. Precis. Eng., 30:10 1069-1077.   DOI
14 Robotics Lab, viewed 1 Sep. 2016, .