title   
  

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

Khalil, Islam S. M. and Golubovic, Edin and Şabanoviç, Asif (2011) High precision motion control of parallel robots with imperfections and manufacturing tolerances. In: IEEE International Conference of Mechatronics (ICM 2011), Istanbul, Turkey

[img]
Preview
PDF - Requires a PDF viewer such as GSview, Xpdf or Adobe Acrobat Reader
3472Kb

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.

Item Type:Papers in Conference Proceedings
Uncontrolled Keywords:Task space measurement, disturbance rejection, kinematical inaccuracies
Subjects:T Technology > T Technology (General)
ID Code:16470
Deposited By:Islam Shoukry Mohammed Khalil
Deposited On:09 May 2011 15:49
Last Modified:03 Oct 2013 11:53

Repository Staff Only: item control page