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Model-based joint and task space control strategies for a kinematically redundant parallel manipulator

Published online by Cambridge University Press:  07 September 2021

João Vitor de Carvalho Fontes ,
Fernanda Thaís Colombo ,
Natássya Barlate Floro da Silva  and
Maíra Martins da Silva Open the ORCID record for Maíra Martins da Silva [Opens in a new window]
João Vitor de Carvalho Fontes
Affiliation:
Federal University of São Carlos, Rod. Washington Luís km 235 - SP-310 - São Carlos, Brazil
Fernanda Thaís Colombo
Affiliation:
São Carlos School of Engineering, University of São Paulo, Av. Trab. São Carlense, 400, São Carlos, Brazil
Natássya Barlate Floro da Silva
Affiliation:
Federal University of Technology - Paraná, Av. Alberto Carazzai, Cornélio Procópio, Brazil
Maíra Martins da Silva*
Affiliation:
São Carlos School of Engineering, University of São Paulo, Av. Trab. São Carlense, 400, São Carlos, Brazil
*
*Corresponding author. mairams@sc.usp.br
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Abstract

One alternative to overcome the presence of singularities within Parallel Manipulators’ workspace is kinematic redundancy. This design alternative can be realized by adding an extra active joint to a kinematic chain. Due to this addition, the IKM presents an infinite number of solutions requiring a redundancy resolution scheme. Moreover, Parallel Manipulators’ control may require complex strategies due to their coupled and complex dynamic and kinematic relations. In this work, a model-free, a joint space computed torque, and a hybrid joint-task-space computed torque control strategies are experimentally compared for a kinematically redundant parallel manipulator. The latter is a novel strategy that requires the measurement of the end-effector’s pose, which is performed by an eye-to-hand limited frame rate camera. The impact of up to three kinematic redundancy levels is also experimentally evaluated using prepositioning and ongoing positioning redundancy resolution schemes. The data are assessed by evaluating a prescribed trajectory executed using a planar kinematically redundant parallel manipulator. These results indicate that kinematic redundancy can not only be used as an alternative design for reducing the presence of singular regions, as claimed in the literature, but also be used along with model-based control strategies for improving dynamic performance and accuracy of parallel manipulators.

Keywords

parallel kinematic machinekinematic redundancymodel-based control strategiesexperimental results
Type
Research Article
Information
Robotica , Volume 40 , Issue 5 , May 2022 , pp. 1570 - 1586
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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