Modal space decoupled controller for hydraulically driven six degree of freedom parallel robot

Peter O. Ogbobe; Ye ZhengMao; Jiang Hongzhou; Chifu Yang; Han Junwei

doi:10.1109/ICMEE.2010.5558548

Modal space decoupled controller for hydraulically driven six degree of freedom parallel robot

Peter O. Ogbobe, Ye ZhengMao, Jiang Hongzhou, Chifu Yang, Han Junwei

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Scopus citations

Abstract

This paper proposes a modal space decoupling controller for the highly coupled six degrees of freedom parallel robot. It is based on singular value decomposition to the properties of the joint space inverse mass matrix, using an orthogonal unitary matrix. The method moreover, maps the control and feedback variables from the joint space to the decoupled modal space. Using this method, the highly coupled six-input-six-output dynamics of the parallel robot was transformed into six independent single inputs, single output one degree of freedom hydraulically driven mechanical system. The simulation result shows that the controller improved the trajectory performance more than the conventional PID controller in all DOF and eliminated the dynamic coupling effects.

Original language	English
Title of host publication	ICMEE 2010 - 2010 2nd International Conference on Mechanical and Electronics Engineering, Proceedings
Pages	V1280-V1284
DOIs	https://doi.org/10.1109/ICMEE.2010.5558548
State	Published - 2010
Externally published	Yes
Event	2010 2nd International Conference on Mechanical and Electronics Engineering, ICMEE 2010 - Kyoto, Japan Duration: 1 Aug 2010 → 3 Aug 2010

Publication series

Name	ICMEE 2010 - 2010 2nd International Conference on Mechanical and Electronics Engineering, Proceedings
Volume	1

Conference

Conference	2010 2nd International Conference on Mechanical and Electronics Engineering, ICMEE 2010
Country/Territory	Japan
City	Kyoto
Period	1/08/10 → 3/08/10

Keywords

Dynamic coupling effects
Modal space decoupling controller
Parallel robot
Singular value decomposition
Six degrees of freedom
Unitary othorgonal matrix

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10.1109/ICMEE.2010.5558548

Cite this

Ogbobe, P. O., ZhengMao, Y., Hongzhou, J., Yang, C., & Junwei, H. (2010). Modal space decoupled controller for hydraulically driven six degree of freedom parallel robot. In ICMEE 2010 - 2010 2nd International Conference on Mechanical and Electronics Engineering, Proceedings (pp. V1280-V1284). Article 5558548 (ICMEE 2010 - 2010 2nd International Conference on Mechanical and Electronics Engineering, Proceedings; Vol. 1). https://doi.org/10.1109/ICMEE.2010.5558548

Ogbobe, Peter O. ; ZhengMao, Ye ; Hongzhou, Jiang et al. / Modal space decoupled controller for hydraulically driven six degree of freedom parallel robot. ICMEE 2010 - 2010 2nd International Conference on Mechanical and Electronics Engineering, Proceedings. 2010. pp. V1280-V1284 (ICMEE 2010 - 2010 2nd International Conference on Mechanical and Electronics Engineering, Proceedings).

@inproceedings{7358dfdf4f7b4536a79d423663cfc8c2,

title = "Modal space decoupled controller for hydraulically driven six degree of freedom parallel robot",

abstract = "This paper proposes a modal space decoupling controller for the highly coupled six degrees of freedom parallel robot. It is based on singular value decomposition to the properties of the joint space inverse mass matrix, using an orthogonal unitary matrix. The method moreover, maps the control and feedback variables from the joint space to the decoupled modal space. Using this method, the highly coupled six-input-six-output dynamics of the parallel robot was transformed into six independent single inputs, single output one degree of freedom hydraulically driven mechanical system. The simulation result shows that the controller improved the trajectory performance more than the conventional PID controller in all DOF and eliminated the dynamic coupling effects.",

keywords = "Dynamic coupling effects, Modal space decoupling controller, Parallel robot, Singular value decomposition, Six degrees of freedom, Unitary othorgonal matrix",

author = "Ogbobe, {Peter O.} and Ye ZhengMao and Jiang Hongzhou and Chifu Yang and Han Junwei",

year = "2010",

doi = "10.1109/ICMEE.2010.5558548",

language = "英语",

isbn = "9781424474806",

series = "ICMEE 2010 - 2010 2nd International Conference on Mechanical and Electronics Engineering, Proceedings",

pages = "V1280--V1284",

booktitle = "ICMEE 2010 - 2010 2nd International Conference on Mechanical and Electronics Engineering, Proceedings",

note = "2010 2nd International Conference on Mechanical and Electronics Engineering, ICMEE 2010 ; Conference date: 01-08-2010 Through 03-08-2010",

}

Ogbobe, PO, ZhengMao, Y, Hongzhou, J, Yang, C & Junwei, H 2010, Modal space decoupled controller for hydraulically driven six degree of freedom parallel robot. in ICMEE 2010 - 2010 2nd International Conference on Mechanical and Electronics Engineering, Proceedings., 5558548, ICMEE 2010 - 2010 2nd International Conference on Mechanical and Electronics Engineering, Proceedings, vol. 1, pp. V1280-V1284, 2010 2nd International Conference on Mechanical and Electronics Engineering, ICMEE 2010, Kyoto, Japan, 1/08/10. https://doi.org/10.1109/ICMEE.2010.5558548

Modal space decoupled controller for hydraulically driven six degree of freedom parallel robot. / Ogbobe, Peter O.; ZhengMao, Ye; Hongzhou, Jiang et al.
ICMEE 2010 - 2010 2nd International Conference on Mechanical and Electronics Engineering, Proceedings. 2010. p. V1280-V1284 5558548 (ICMEE 2010 - 2010 2nd International Conference on Mechanical and Electronics Engineering, Proceedings; Vol. 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Modal space decoupled controller for hydraulically driven six degree of freedom parallel robot

AU - Ogbobe, Peter O.

AU - ZhengMao, Ye

AU - Hongzhou, Jiang

AU - Yang, Chifu

AU - Junwei, Han

PY - 2010

Y1 - 2010

N2 - This paper proposes a modal space decoupling controller for the highly coupled six degrees of freedom parallel robot. It is based on singular value decomposition to the properties of the joint space inverse mass matrix, using an orthogonal unitary matrix. The method moreover, maps the control and feedback variables from the joint space to the decoupled modal space. Using this method, the highly coupled six-input-six-output dynamics of the parallel robot was transformed into six independent single inputs, single output one degree of freedom hydraulically driven mechanical system. The simulation result shows that the controller improved the trajectory performance more than the conventional PID controller in all DOF and eliminated the dynamic coupling effects.

AB - This paper proposes a modal space decoupling controller for the highly coupled six degrees of freedom parallel robot. It is based on singular value decomposition to the properties of the joint space inverse mass matrix, using an orthogonal unitary matrix. The method moreover, maps the control and feedback variables from the joint space to the decoupled modal space. Using this method, the highly coupled six-input-six-output dynamics of the parallel robot was transformed into six independent single inputs, single output one degree of freedom hydraulically driven mechanical system. The simulation result shows that the controller improved the trajectory performance more than the conventional PID controller in all DOF and eliminated the dynamic coupling effects.

KW - Dynamic coupling effects

KW - Modal space decoupling controller

KW - Parallel robot

KW - Singular value decomposition

KW - Six degrees of freedom

KW - Unitary othorgonal matrix

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DO - 10.1109/ICMEE.2010.5558548

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T3 - ICMEE 2010 - 2010 2nd International Conference on Mechanical and Electronics Engineering, Proceedings

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BT - ICMEE 2010 - 2010 2nd International Conference on Mechanical and Electronics Engineering, Proceedings

T2 - 2010 2nd International Conference on Mechanical and Electronics Engineering, ICMEE 2010

Y2 - 1 August 2010 through 3 August 2010

ER -

Ogbobe PO, ZhengMao Y, Hongzhou J, Yang C, Junwei H. Modal space decoupled controller for hydraulically driven six degree of freedom parallel robot. In ICMEE 2010 - 2010 2nd International Conference on Mechanical and Electronics Engineering, Proceedings. 2010. p. V1280-V1284. 5558548. (ICMEE 2010 - 2010 2nd International Conference on Mechanical and Electronics Engineering, Proceedings). doi: 10.1109/ICMEE.2010.5558548

Modal space decoupled controller for hydraulically driven six degree of freedom parallel robot

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