Abstract
The tracking performance of manipulators can be improved considerably by adaptive feedforward control (AFFC). However, complex kinematics hinder the application to parallel kinematic manipulators (PKMs). This paper proposes a compact and efficient formulation of the full PKM kinematics enabling real-time application of AFFC to complex PKMs. The efficient kinematic formulation is the basis for the inverse dynamics used to compute the feedforward signal. A Kalman filter is used for online estimation of the parameters in the equations of motion. A parallel multi-rate implementation is used, which, together with the efficient kinematic formulation, allows for a feedforward sampling time as low as 0.5 ms. The parameters are updated every 30ms, which suffices to track the slow parameter variations. The application to a highly repeatable flexure-based manipulator is considered. Experimental results for the manipulator show that the tracking error can be reduced by 97.5% compared to using feedback control only.
Original language | English |
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Title of host publication | 2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021 |
Place of Publication | Piscataway, NJ |
Publisher | IEEE |
Pages | 186-191 |
Number of pages | 6 |
ISBN (Electronic) | 978-1-6654-4139-1 |
ISBN (Print) | 978-1-6654-4140-7 |
DOIs | |
Publication status | Published - 24 Aug 2021 |
Event | IEEE/ASME International Conference on Ad vanced Intelligent Mechatronics, AIM 2021 - Virtual Conference, Delft, Netherlands Duration: 12 Jul 2021 → 16 Jul 2021 https://aim2021.org/ |
Publication series
Name | IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) |
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Publisher | IEEE |
Volume | 2021 |
ISSN (Print) | 2159-6247 |
ISSN (Electronic) | 2159-6255 |
Conference
Conference | IEEE/ASME International Conference on Ad vanced Intelligent Mechatronics, AIM 2021 |
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Abbreviated title | AIM 2021 |
Country/Territory | Netherlands |
City | Delft |
Period | 12/07/21 → 16/07/21 |
Internet address |
Keywords
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