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 - 24 Aug 2021
EventIEEE/ASME International Conference on Ad vanced Intelligent Mechatronics, AIM 2021 - Virtual Conference, Delft, Netherlands
Duration: 12 Jul 202116 Jul 2021
https://aim2021.org/

Publication series

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

Conference

ConferenceIEEE/ASME International Conference on Ad vanced Intelligent Mechatronics, AIM 2021
Abbreviated titleAIM 2021
Country/TerritoryNetherlands
CityDelft
Period12/07/2116/07/21
Internet address

Keywords

  • 2022 OA procedure

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