Distributed-Torque-Based Independent Joint Tracking Control of a Redundantly Actuated Parallel Robot With Two Higher Kinematic Pairs

A redundantly actuated parallel robot of the 6RSS mechanism involving two point-contact higher kinematic pairs (HKPs) has been developed for the evaluation of food texture changes during the process of mastication. To accomplish this, a fundamental capability of reproducing complex mandibular motion...

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Bibliographic Details
Published inIEEE transactions on industrial electronics (1982) Vol. 63; no. 2; pp. 1062 - 1070
Main Authors Cheng, Chen, Xu, Weiliang, Shang, Jianzhong
Format Journal Article
LanguageEnglish
Published New York IEEE 01.02.2016
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Actuators
Chewing
Computer animation
Control algorithms
Control theory
Dynamics
Friction
Joints
Kinematics
motion control
parallel robot
redundant actuation
Robot kinematics
Robots
Surface layer
Texture
Torque
Tracking
parallel robot
motion control
Dynamics
redundant actuation
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ISSN0278-0046
1557-9948
DOI10.1109/TIE.2015.2481360

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Summary:A redundantly actuated parallel robot of the 6RSS mechanism involving two point-contact higher kinematic pairs (HKPs) has been developed for the evaluation of food texture changes during the process of mastication. To accomplish this, a fundamental capability of reproducing complex mandibular motions of human subjects in a biomimetic manner is required. In this paper, first, the mechanism and experimental setup of the robot are described, followed by five performance criteria proposed for the torque distribution across the robot. Second, the distributed torque is employed as a feedforward to enhance the independent joint control for the tracking of the mandibular movement. The frictional effects are compensated for to further improve the tracking accuracy. Finally, experiments are carried out to evaluate and compare the proposed control algorithms with the robot being commanded to reproduce a real human mandibular motion in free chewing, chewing a silicone gel, and chewing a wooden stick. The results illustrate that the robot is able to emulate complex mandibular motions, the distributed-torque-based joint control significantly enhances the motion tracking accuracy, and the friction compensation can further improve the motion tracking performance.
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ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2015.2481360