Bond Graph Model-Based Inversion of Planar Parallel Manipulator Systems

Overwhelming controllers have been successfully used in the past for trajectory and impedance control. An overwhelming controller uses an image or copy of the system model in the model-based controller. This model represents the kinematic constraints for implicit system inversion. The controller out...

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Bibliographic Details
Published inInternational journal of modelling & simulation Vol. 31; no. 4; pp. 331 - 342
Main Authors Bera, Tarun K., Samantaray, Arun K.
Format Journal Article
LanguageEnglish
Published Taylor & Francis 01.01.2011
Subjects
bond graph
model-based control
overwhelming controller
parallel manipulator
System inversion
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Summary:Overwhelming controllers have been successfully used in the past for trajectory and impedance control. An overwhelming controller uses an image or copy of the system model in the model-based controller. This model represents the kinematic constraints for implicit system inversion. The controller output is used to actuate the controlled system through a high feedback gain, which ensures that the dynamics of the controller overwhelms the plant dynamics. The overwhelming controller implementation for a serial robotic system is a straightforward task. However, implementation of a bond graph model-based overwhelming controller for a parallel manipulator shows up a few difficult causal loops. Removal of these causal loops and a few other subtle modifications yield a computationally efficient inverse model for real-time implementation. As validation of the developed approach, trajectory tracking in constrained planar welding operation is considered. The corresponding simulation results are presented.
ISSN:0228-6203
1925-7082
1925-7082
DOI:10.2316/Journal.205.2011.4.205-5637