Multiple Impedance Control of Hybrid Parallel-Serial Manipulator for Object Manipulation Task


  • Task:
    Kinematic and Dynamic Modeling, Optimization of Structural Design, Multiple Impedance Control, Implementation of Mechanical Cable Winch, Vision Sensor and Image Processing, Improving Algorithm
  • Abstract:
    One of the widely used of industrial robots is object manipulation (OM). Cable driven parallel robot (CDPR) has a very large workspace suitable for this application. However, there are possible cable collisions with the environment. Therefore, use of a Serial Manipulator (SM) recommended penetrating the blind spots. Thus, the combination of CDPR-SM is recommended for OM. The tasks of OM, welding, surface finishing, cleaning, etc. need algorithms capable of determining the interaction force and position control. In addition, constrained and suspended structure of CDPR is evaluated and the best structure for the control and construction is selected.
    Kinematics modeling of robots CDPR and OM provided. Topics such as inverse kinematic, Jacobian, speed, acceleration analysis, singularity and sensitive of CDPR investigated. Also forward, inverse kinematics, speed, acceleration, Jacobian, singularities and workspace analysis of SM checked.
    Dynamsic modeling for using in control subjects, simulation and analysis system takes place. The SM dynamics obtained by iterative Newton-Euler and CDPR dynamics modeled by Newton-Euler method. An algorithm to optimize traction cable is also provided. A redundancy resolution algorithm provided. However, a new method proposed to reduce the redundancy of actuators. The model verified by the virtual model. Structure of CDPR optimized by criteria such as controllable workspace, free singularity workspace, sensitivity and stiffness equipped with SM.
    Multiple impedance control (MIC) use to OM in the presence of external disturbances discussed for OM. Also parallel and serial MIC with different coefficient implemented. However, workspace and joint space unite impedance is also checked. Coefficients optimised by error and wrench criteria.
    The CDPR wich discussed in this thesis for implementing control algorithms and study performance is manufacture. According to the analysis, mechanical components of the robot, is design. In addition, electronic platform is preparing to send control commands. The platform pose obtained by a new method that combines machine vision and winch angles. Forward kinematics by an artificial neural network that is trained for all situations in the workspace is obtained.
  • Keywords:
    Cable Parallel-Serial Robot, Kinematics and Dynamics Modeling, Optimum Design of Cable Driven Parallel Robot, Multiple Impedance Control
2014 to 2016
K.N. Toosi University of Technology (KNTU)