Pedrammehr, Siamak, Chalak Qazani, Mohammad Reza, Asadi, Houshyar, Ettefagh, Mir Mohammad, and Nahavandi, Saeid (2022) Model-based control of axisymmetric hexarot parallel manipulators. Results in Control and Optimization, 7. 100135.

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Abstract

In this research, the control of a hexarot parallel mechanism is investigated. Parallel kinematic simulators or machine tools manipulators suffer from many problems to have a good motion tracking. The inverse kinematics and dynamic formulation that have been developed recently via the Newton–Euler method for a general hexarot mechanism is briefly presented. PID controller and fuzzy incremental controller have been designed and developed as an alternative option of the model-based controller. The efficiency of the model-based controller compared to other controllers has been evaluated. An important contribution of this paper is an appropriate control strategy that improves the tracking performance utilizing the cost effective joint-space sensor. The control scheme development starts with the robust design of the controller-observer of the single actuators. The single objective genetic algorithm is used to tune the controller gains to achieve the least tracking error of joint position. This, moreover, is improved by a centralized feedforward dynamics compensation of the gravity. The validity of the developed model is checked under Simulink environment of MATLAB software, and it is found that the developed model-based controller has the preferable tracking performance rather than the traditional PID and fuzzy incremental controllers The proposed model-based controller is able to decrease the motion tracking error from 55, 20 and 12 to 4 (deg2) for spiral motion compared with PID, FIC and observer-PD, respectively.

Item ID:	86740
Item Type:	Article (Research - C1)
ISSN:	2666-7207
Copyright Information:	© 2022 The Author(s). Published by Elsevier B.V. This is an open access article under the CC BY license (http://creativecommons.org/licenses/by/4.0/).
Date Deposited:	15 Oct 2025 03:41
FoR Codes:	40 ENGINEERING > 4007 Control engineering, mechatronics and robotics > 400705 Control engineering @ 60% 40 ENGINEERING > 4007 Control engineering, mechatronics and robotics > 400706 Field robotics @ 40%
SEO Codes:	24 MANUFACTURING > 2412 Machinery and equipment > 241204 Industrial machinery and equipment @ 100%
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