Journal
MECHANISM AND MACHINE THEORY
Volume 150, Issue -, Pages -Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.mechmachtheory.2020.103864
Keywords
Parallel kinematic manipulators; Kinematic models; Dynamic model; RISE control; Actuation redundancy
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Funding
- French government research program Investissements d'avenir through the Robotex Equipment of Excellence [ANR-10-EQPX-44]
- Mexican Council of Science and Technology (CONACYT) [593804]
- PADES program [2017-13-011-053]
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In this paper, a novel 5-Degree of Freedom (DOF) Redundantly Actuated (RA) Parallel Kinematic Manipulator (PKM) called SPIDER4 is presented. The main purpose of this manipulator is to perform machining tasks such as drilling and milling. All the mathematical models including the forward and inverse kinematic models, as well as the inverse dynamic model were developed. Owing to machining tasks require high precision, a RISE Feedforward controller is proposed for desired trajectory tracking. To show the performance and effectiveness of the proposed control scheme, real-time experiments were performed. The obtained results of the proposed controller compared to the standard RISE controller are presented and discussed. They confirm that the proposed controller outperforms the standard one. (C) 2020 Elsevier Ltd. All rights reserved.
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