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

Warning The system is temporarily closed to updates for reporting purpose.

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

[thumbnail of ICM2011-Third.pdf] PDF
ICM2011-Third.pdf

Download (3MB)

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)
Divisions: Faculty of Engineering and Natural Sciences > Academic programs > Mechatronics
Faculty of Engineering and Natural Sciences
Depositing User: Islam Shoukry Mohammed Khalil
Date Deposited: 09 May 2011 15:49
Last Modified: 26 Apr 2022 09:01
URI: https://research.sabanciuniv.edu/id/eprint/16470

Actions (login required)

View Item
View Item