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Perfect Torque Compensation of Planar 5R Parallel Robot in Point-to-Point Motions, Optimal Control Approach

Published online by Cambridge University Press:  13 October 2020

Mojtaba Riyahi Vezvari ,
Amin Nikoobin Open the ORCID record for Amin Nikoobin [Opens in a new window]  and
Ali Ghoddosian
Mojtaba Riyahi Vezvari
Affiliation:
Robotics and Control Research Laboratory, Faculty of Mechanical Engineering, Semnan University, Semnan, Iran. E-mail: mrv@semnan.ac.ir
Amin Nikoobin*
Affiliation:
Robotics and Control Research Laboratory, Faculty of Mechanical Engineering, Semnan University, Semnan, Iran. E-mail: mrv@semnan.ac.ir
Ali Ghoddosian
Affiliation:
Faculty of Mechanical Engineering, Semnan University, Semnan, Iran. E-mail: aghoddosian@semnan.ac.ir
*
*Corresponding author. E-mail: anikoobin@semnan.ac.ir
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Summary

In this paper, a new approach is presented for perfect torque compensation of the robot in point-to-point motions. The proposed method is formulated as an open-loop optimal control problem. The problem is defined as optimal trajectory planning with adjustable design parameters to compensate applied torques of a planar 5R parallel robot for a given task, perfectly. To illustrate the effectiveness of the approach, the obtained optimal path is used as the reference command in the experiment. The experimental outputs show that the performance index has been reduced by over 80% compared to the typical design of the robot.

Keywords

Planar 5R parallel robotCounterweightsPoint-to-point motionOptimal trajectoryOptimal controlTorque compensation

Information

Type
Article
Information
Robotica , Volume 39 , Issue 7 , July 2021 , pp. 1163 - 1180
Copyright
© The Author(s), 2020. Published by Cambridge University Press

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