High precision motion control of parallel robots with imperfections and manufacturing tolerances

Islam S.M. Khalil; E. Globovic; Asif Sabanovic

doi:10.1109/ICMECH.2011.5971332

High precision motion control of parallel robots with imperfections and manufacturing tolerances

Islam S.M. Khalil^*, E. Globovic, Asif Sabanovic

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

13 Citations (Scopus)

Abstract

This work attempts to achieve precise motion control using parallel robots with manufacturing tolerances and inaccuracies by migrating the measurements from their joint space to task space in order to decrease control system's sensitivity to any kinematical uncertainty rather than calibrating the parallel plant. The problem of dynamical model uncertainties and its effect on the derivation of the control law is also addressed in this work through disturbance estimation and compensation. Eventually, both task space measurement and disturbance estimation are combined to formulate a control framework that is unsensitive to either kinematical and dynamical system uncertainties.

Original language	English
Title of host publication	Proceedings 2011 IEEE International Conference on Mechatronics (ICM)
Place of Publication	Piscataway, NJ
Publisher	IEEE
Pages	39-44
Number of pages	6
ISBN (Electronic)	978-1-61284-985-0
ISBN (Print)	978-1-61284-982-9, 978-1-61284-984-3 (CD)
DOIs	https://doi.org/10.1109/ICMECH.2011.5971332
Publication status	Published - 2011
Externally published	Yes
Event	2011 IEEE International Conference on Mechatronics, ICM 2011 - Istanbul, Turkey Duration: 13 Apr 2011 → 15 Apr 2011

Conference

Conference	2011 IEEE International Conference on Mechatronics, ICM 2011
Country/Territory	Turkey
City	Istanbul
Period	13/04/11 → 15/04/11

Keywords

Disturbance rejection
Kinematical inaccuracies
Task space measurement
n/a OA procedure

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10.1109/ICMECH.2011.5971332

Cite this

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title = "High precision motion control of parallel robots with imperfections and manufacturing tolerances",

abstract = "This work attempts to achieve precise motion control using parallel robots with manufacturing tolerances and inaccuracies by migrating the measurements from their joint space to task space in order to decrease control system's sensitivity to any kinematical uncertainty rather than calibrating the parallel plant. The problem of dynamical model uncertainties and its effect on the derivation of the control law is also addressed in this work through disturbance estimation and compensation. Eventually, both task space measurement and disturbance estimation are combined to formulate a control framework that is unsensitive to either kinematical and dynamical system uncertainties.",

keywords = "Disturbance rejection, Kinematical inaccuracies, Task space measurement, n/a OA procedure",

author = "Khalil, {Islam S.M.} and E. Globovic and Asif Sabanovic",

year = "2011",

doi = "10.1109/ICMECH.2011.5971332",

language = "English",

isbn = "978-1-61284-982-9",

pages = "39--44",

booktitle = "Proceedings 2011 IEEE International Conference on Mechatronics (ICM)",

publisher = "IEEE",

note = "2011 IEEE International Conference on Mechatronics, ICM 2011 ; Conference date: 13-04-2011 Through 15-04-2011",

}

Khalil, ISM, Globovic, E & Sabanovic, A 2011, High precision motion control of parallel robots with imperfections and manufacturing tolerances. in Proceedings 2011 IEEE International Conference on Mechatronics (ICM)., 5971332, IEEE, Piscataway, NJ, pp. 39-44, 2011 IEEE International Conference on Mechatronics, ICM 2011, Istanbul, Turkey, 13/04/11. https://doi.org/10.1109/ICMECH.2011.5971332

High precision motion control of parallel robots with imperfections and manufacturing tolerances. / Khalil, Islam S.M.; Globovic, E.; Sabanovic, Asif.

Proceedings 2011 IEEE International Conference on Mechatronics (ICM). Piscataway, NJ : IEEE, 2011. p. 39-44 5971332.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AU - Globovic, E.

AU - Sabanovic, Asif

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N2 - This work attempts to achieve precise motion control using parallel robots with manufacturing tolerances and inaccuracies by migrating the measurements from their joint space to task space in order to decrease control system's sensitivity to any kinematical uncertainty rather than calibrating the parallel plant. The problem of dynamical model uncertainties and its effect on the derivation of the control law is also addressed in this work through disturbance estimation and compensation. Eventually, both task space measurement and disturbance estimation are combined to formulate a control framework that is unsensitive to either kinematical and dynamical system uncertainties.

AB - This work attempts to achieve precise motion control using parallel robots with manufacturing tolerances and inaccuracies by migrating the measurements from their joint space to task space in order to decrease control system's sensitivity to any kinematical uncertainty rather than calibrating the parallel plant. The problem of dynamical model uncertainties and its effect on the derivation of the control law is also addressed in this work through disturbance estimation and compensation. Eventually, both task space measurement and disturbance estimation are combined to formulate a control framework that is unsensitive to either kinematical and dynamical system uncertainties.

KW - Disturbance rejection

KW - Kinematical inaccuracies

KW - Task space measurement

KW - n/a OA procedure

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BT - Proceedings 2011 IEEE International Conference on Mechatronics (ICM)

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T2 - 2011 IEEE International Conference on Mechatronics, ICM 2011

Y2 - 13 April 2011 through 15 April 2011

ER -

High precision motion control of parallel robots with imperfections and manufacturing tolerances

Abstract

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Keywords

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