İbrahim YILDIZ, Vasfi Emre ÖMÜRLÜ

1210

Self-tuning fuzzy PD-based stiffness controller of a 3 × 3 stewart platform as a man-machine interface

Self-tuning fuzzy PD-based stiffness controller of a 3 × 3 stewart platform as a man-machine interface

Stewart Platform (SP) mechanism has wide application area on aerospace and manufacturing industry with its nonlinear structure allowing spatial motion capabilities. However, nonlinearities in the structure of the mechanism lead to complications in the dynamics of the system and result in complex control algorithms for dexterity in motion and force/torque feedback. Therefore, this paper aims to represent stiffness control by means of independent joint fuzzy-PD control algorithm with gain scheduling on an experimental 3×3 SP parallel robotic mechanism to be used as a fly-by-wire flight control unit. Model and real system responses are compared employing stiffness control so that the model is valid for control design trials. Following the selection of optimum control coefficients of self-tuning structure, responses are compared with alternative control algorithms like fuzzy-PD, self-tuning fuzzy PD and PD controllers. Optimum control coefficients are selected minimizing force error integral over a spiral force path on nine chosen points on the workspace. However, torque feedback is applied minimizing the torque error for simple angularmotions. System responses for selected controllers are presented and discussed.
PDF

___

  • [1] D. Stewart, “A Platform with Six Degrees of Freedom”, Proc. Instn. Mech. Engrs., Vol.80, pp.371-386, 1965.
  • [2] B. Dasgupta, T. S. Mruthyunjaya, “The Stewart platform manipulator: a review”, Mech. and Machine Theory, Vol.35, pp. 15-40, 2000.
  • [3] K. Harib and K. Srinivasan, “Kinematic and dynamic analysis of Stewart platform-based machine tool structures”, Robotica, Vol. 21, pp. 541-554, 2003.
  • [4] Z. Jason Geng and L.S. Haynes, “Six degree-of-freedom active vibration control using the stewart platforms”, IEEE Transactions on Control Systems Technology, Vol. 2, No. 1, pp. 45-53, 1994.
  • [5] S. Lee, J. Song, W. Choi and D. Hong, “Position control of a stewart platform using inverse dynamics control with approximate dynamics”, Mechatronics, Vol. 13, pp. 605-619, 2003.
  • [6] Y. Moon and S. Kota, “Design of compliant parallel kinematic machines”, Proceedings of DETC’02, Montreal, Canada, pp. 1-7, September 29-October 2, 2002.
  • [7] B.Dasgupta, T.S.Mruthyunjaya, “Closed-form dynamic equations of the general stewart platform through the Newton-Euler approach”, Mechanism and Machine Theory, Vol. 33, pp. 993-1012.
  • [8] G. Lebret, K. Liu and F.L. Lewis, “Dynamic analysis and control of a stewart platform manipulator”, Journal of Robotic Systems, Vol. 10, pp. 629-655.
  • [9] I. Yildiz, V.E. Omurlu and A. Sagirli, “Dynamic modeling of a generalized stewart platform by bond graph method utilizing a novel spatial visualization technique”, International Review of Mechanical Engineering, Vol. 2, No. 5, 2008.
  • [10] F. Pernkopf and M. Husty, “Workspace analysis of stewart-gough manipulators using orientation plots”, Proceedings of MUSME, 2002.
  • [11] S. Kudomi, H. Yamada and T. Muto, “Development of a hydraulic master-slave system for tele-robotics”, Proc. of 1st FPNI-PhD Symp., pp. 467-474, Hamburg, Germany, 2000.
  • [12] C. Duriez, D. Lamy, C. Chaillou, “A parallel manipulator as a haptic interface solution for amniocentesis simulation”, IEEE International Workshop on Robot and Human Interactive Communication, pp. 176-181, 2001.
  • [13] A. Benali, P. Richard, P. Bidaud, “Design, control and evaluation of a six DOF force feedback interface for virtual reality applications”, IEEE International Workshop on Robot and Human Interaction, Pisa, Italy pp. 338-343, 1999.
  • [14] P. Han, T. Wang, D.H. Wang, “Modeling and control of a Stewart platform based six-axis hybrid vibration isolation system”, 7th World Congress on Intelligent Control and Automation, pp. 1613-1618, 2008.
  • [15] T. Chen, Z. Zhang, “Design and research of tele-operation manipulator with force feedback”, International Conference on Intelligent Computation Technology and Automation, Vol. 2, pp. 979-983, 2008.
  • [16] M. Hashimoto, K. Kami, R. Yamamoto, “Development of a parallel manipulator for force display”, 26th Annual Conference of the IEEE, Vol. 1, pp. 235-240, 2000.
  • [17] M. Takaiwa, T. Noritsugu, “Application of pneumatic parallel manipulator as haptic human interface”, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 185-190, 1999.
  • [18] R. K. Mudi, N. R. Pal, “A robust self-tuning scheme for PI and PD type fuzzy controllers,”, IEEE Transactions on Fuzzy Systems, Vol. 7, No. 1, pp. 2-16, 1999.
  • [19] I. B. Kucukdemiral, G. Cansever, G. Yildirmaz, “Direct adaptive fuzzy logic controller with self-tuning input scaling factors”, 4th Asian Control Conference, Singapure, 2002.
  • [20] G. Zeng and A. Hemami, “An overview of robot force control”, Robotica, Vol. 15. pp. 473-482, 1997.
  • [21] Vlachos, K. and Papadopoulos, E., “Force control law design for a five degree-of-freedom haptic mechanism,” Proc. International Conference on Robotics and Applications, Cambridge, MA, USA, 2005.
Turkish Journal of Electrical Engineering and Computer Sciences-Cover
  • ISSN: 1300-0632
  • Yayın Aralığı: Yılda 6 Sayı
  • Yayıncı: TÜBİTAK
Arşiv
Sayıdaki Diğer Makaleler

Semi-active $H_{infty}$ robust control of six degree of freedom structural system using MR damper

İsmail YÜKSEK, Selim SİVRİOĞLU, Erkan ZERGEROĞLU, Şaban ÇETİN

Ellipsoid based $L_2$ controller design for LPV systems with saturating actuators

Levent UCUN, Yavuz EREN, İbrahim Beklan KÜÇÜKDEMİRAL, Haluk GÖRGÜN, Galip CANSEVER

Self-tuning fuzzy PD-based stiffness controller of a 3 × 3 stewart platform as a man-machine interface

İbrahim YILDIZ, Vasfi Emre ÖMÜRLÜ