0Citations
Citations of this article
8Readers
Mendeley users who have this article in their library.
Get full text

Abstract

This paper presents the end-effector pose error modeling and motion accuracy analysis of a planar 2PRP-PPR parallel manipulator with an unsymmetrical (U-shape) fixed base. The error model is established based on the screw theory with considerations of both configuration (geometrical) errors and joint clearances. It also proposes a robust cascaded control scheme for the end-effector pose (task-space) error correction in trajectory-tracking of the manipulator due to mechanical inaccuracies. The proposed control scheme uses redundant sensor feedback, i.e., individual active joint displacements and velocities and, end-effector positions and orientation are obtained as feedback signals using appropriate sensors. To demonstrate the efficacy and show complete performance of the proposed controller, real-time experiments are accomplished on an in-house fabricated planar 2PRP-PPR parallel manipulator.

Cite

CITATION STYLE

APA

Mohan, S. (2017). Error analysis and control scheme for the error correction in trajectory-tracking of a planar 2PRP-PPR parallel manipulator. Mechatronics, 46, 70–83. https://doi.org/10.1016/j.mechatronics.2017.07.003

Register to see more suggestions

Mendeley helps you to discover research relevant for your work.

Already have an account?

Save time finding and organizing research with Mendeley

Sign up for free