Hostname: page-component-cd9895bd7-7cvxr Total loading time: 0 Render date: 2024-12-23T06:10:53.128Z Has data issue: false hasContentIssue false
  • English
  • Français

A novel iteration-based controller for hybrid machine systems for trajectory tracking at the end-effector level

Published online by Cambridge University Press:  27 April 2010

Z. H. Chen ,
Y. Wang ,
P. Ouyang ,
J. Huang  and
W. J. Zhang
Z. H. Chen
Affiliation:
College of Mechanical and Power Engineering, East China University of Sciences and Technology, Meilong Road 130, Shanghai 200237, P.R. China Department of Engineering Machinery, Shandong Jiaotong University, 5 Jiaoxiao Road, Jinan, Shandong 250023, P.R. China
Y. Wang
Affiliation:
School of Mechanical Engineering, Shandong University, 73 Jingshi Road, Jinan 250061, P.R. China
P. Ouyang
Affiliation:
Department of Airspace Engineering, Ryerson University, Centre for Computing and Engineering, ENG170, 350 Victoria Street, Toronto, Ontario M5B 2K3, Canada
J. Huang
Affiliation:
College of Mechanical and Power Engineering, East China University of Sciences and Technology, Meilong Road 130, Shanghai 200237, P.R. China Department of Mechanical Engineering, University of Saskatchewan, 57 Campus drive, Saskatoon, Saskatchewan S7N 5A9, Canada
W. J. Zhang*
Affiliation:
College of Mechanical and Power Engineering, East China University of Sciences and Technology, Meilong Road 130, Shanghai 200237, P.R. China Department of Mechanical Engineering, University of Saskatchewan, 57 Campus drive, Saskatoon, Saskatchewan S7N 5A9, Canada
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

Hybrid actuation systems consist of two types of motors: constant velocity (CV) motor and servo (SV) motor. The CV motor can produce a large power but with a poor task flexibility. On the other hand, the SV motor has an excellent task flexibility but with a small power capacity. Combination of these two types of motors into a coherent driver architecture for machine systems is extremely promising, because they complement each other. Existing studies on the hybrid actuation or machine system usually employ two servo motors, one of which substitutes the CV motor. This treatment compromises the control accuracy for the trajectory tracking at the end-effector. This paper presents a study on a new controller for the hybrid machine that considers one SV motor and one CV motor and for trajectory tracking at the end-effector level. A comparison of this new controller with the controller we developed previously is provided. A five-bar mechanism with two degrees of freedom is employed for the illustration purpose.

Keywords

Hybrid actuation systemFive-bar mechanismControlTrajectory tracking
Type
Article
Information
Robotica , Volume 29 , Issue 2 , March 2011 , pp. 317 - 324
Copyright
Copyright © Cambridge University Press 2010

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Dulger, L. C., Kirecci, A. and Topalbekiroglu, M., “Modeling and simulation of a hybrid actuator,” Mech. Mach. Theory 38 (5), 395–407 (2003).CrossRefGoogle Scholar
2.Du, R. and Guo, W. Z., “Design of a new metal forming press with controllable mechanisms,” ASME J. Manuf. Sci. Eng. 125 (3), 592–592 (2003).Google Scholar
3.Greenough, J. D., Bradshaw, W. K., Gilmartin, M. J., Douglas, S. S. and Jones, J. R., “Design of Hybrid Machine's,” Proceedings of the 9th IFTMM World Congress, Milan, Italy (1995) pp. 2501–2505.Google Scholar
4.Guo, L. S., Li, Y. F. and Zhang, W. J., “Trajectory Control of Two DOF Closed-Chain Mechanical Systems,” Proceedings of DETC'00 ASME 2000 Design Engineering Technical Conferences and Computers and information in Engineering Conference, Baltimore, Maryland (2000) pp. 981–988.Google Scholar
5.Guo, W. Z., He, K., Yeung, K. and Du, R., “A new type of controllable mechanical press: Motion control and experimental validation,” ASME J. Manuf. Sci. Eng. 127, 731–742 (Nov. 2005).CrossRefGoogle Scholar
6.Ghorbel, F., Chetelat, Q.Gunawardana, R. and Longchamp, R., “Modeling and set point control of closed-chain mechanisms: Theory and experiment,” IEEE Trans. Control Syst. Technol. 8 (5), 801–815 (2000).CrossRefGoogle Scholar
7.Herman, J. V. and Schutter, J. D., “Hybrid cam mechanisms,” IEEE/ASME Trans. Mechatronics 1 (4), 284–288 (1996).Google Scholar
8.Gardner, J. F., Srinivasan, K. and Waldron, K. J., “Closed loop trajectory control of walking machines,” Robotica 8 (1), pp 13–22 (Jan. 1990).CrossRefGoogle Scholar
9.Kirecci, A. and Dulger, L. C., “A study on a hybrid actuator,” Mech. Mach. Theory 35 (2), 1141–1149 (2000).CrossRefGoogle Scholar
10.Mazur, A., “Trajectory tracking control in workspace-defined tasks for nonholonomic mobile manipulators,” Robotica 28, 57–68 (2010).CrossRefGoogle Scholar
11.Ouyang, P. R., Li, Q. and Zhang, W. J., “Design, modeling and control of a hybrid machine system,” Mechatronics 14 (10), 1197–1217 (2004).CrossRefGoogle Scholar
12.Ouyang, P. R., Hybrid Intelligent Machine Systems: Design, Modeling and Control PhD Dissertation (Canada: University of Saskatchewan, Saskatoon, Canada, 2005).Google Scholar
13.Tokuz, L. C. and Jones, J. R., “Programmable Modulation of Motion Using Hybrid Machines,” Proceedings of IMECHE, London, UK (1991) pp. 85–91.Google Scholar
14.Tokuz, L. C., Hybrid Machine Modeling and Control PhD Dissertation (Liverpool Polytechnic University, Liverpool, UK, 1992).Google Scholar
15.Wu, F. X., Zhang, W. J., Li, Q., Ouyang, P. R. and Zhou, Z. X., “Control of hybrid machines with 2-DOF for trajectory tracking problems,” IEEE Trans. Control Syst. Technol. 13 (2), 338–342 (2005).CrossRefGoogle Scholar
16.Yang, Z. and Red, E., “On-line Cartesian trajectory control of mechanisms along complex curves,” Robotica 15 (3), 263–274 (1997).CrossRefGoogle Scholar