Efficient formulation of hexapod kinematics enabling real time adaptive feedforward control

Bram Seinhorst, Wouter Hakvoort

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    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 languageEnglish
    Title of host publication2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021
    Place of PublicationPiscataway, NJ
    PublisherIEEE
    Pages186-191
    Number of pages6
    ISBN (Electronic)978-1-6654-4139-1
    ISBN (Print)978-1-6654-4140-7
    DOIs
    Publication statusPublished - 12 Jul 2021
    Event2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021 - Delft, Netherlands
    Duration: 12 Jul 202116 Jul 2021

    Publication series

    NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
    PublisherIEEE
    Volume2021
    ISSN (Print)2159-6247
    ISSN (Electronic)2159-6255

    Conference

    Conference2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021
    CountryNetherlands
    CityDelft
    Period12/07/2116/07/21

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