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A switching inverse dynamics controller for parallel manipulators around drive singular configurations

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dc.contributor.author Özdemir, Mustafa
dc.contributor.author İder, Sıtkı Kemal
dc.date.accessioned 2017-06-09T07:47:08Z
dc.date.available 2017-06-09T07:47:08Z
dc.date.issued 2016
dc.identifier.citation Özdemir, M., İder, S.K. (2016). A switching inverse dynamics controller for parallel manipulators around drive singular configurations. Turkish Journal Of Electrical Engineering And Computer Sciences, 24(5), 4267-4283. http://dx.doi.org/10.3906/elk-1502-50 tr_TR
dc.identifier.issn 1300-0632
dc.identifier.uri http://hdl.handle.net/20.500.12416/1607
dc.description.abstract Despite many advantages, parallel manipulators are known to possess drive singularities where the control of one or more degrees of freedom is lost. Around these singular configurations, the required actuator forces grow unbounded. Previous efforts in the literature put forward singularity-consistent trajectory planning and singularity robust modification of the dynamic equations as a solution to this problem. However, this previous method is applicable only for the open-loop operation of the manipulator, whereas initial configuration errors, external disturbances, and modeling errors should necessarily be taken into account in a closed-loop sense in real-life applications. With this aim, a switching inverse dynamics controller is proposed in this study for the trajectory tracking control of parallel manipulators as they pass through drive singular configurations. Simulations of the application of the developed controller result in good tracking performance, even in the presence of modeling errors, while the actuator efforts remain bounded and continuous in the neighborhood of the singularity tr_TR
dc.language.iso eng tr_TR
dc.publisher TUBİTAK Scientific&Technical Research Council Turkey tr_TR
dc.relation.isversionof 10.3906/elk-1502-50 tr_TR
dc.rights info:eu-repo/semantics/closedAccess
dc.subject Parallel Manipulators tr_TR
dc.subject Inverse Dynamics Control tr_TR
dc.subject Drive Singularities tr_TR
dc.title A switching inverse dynamics controller for parallel manipulators around drive singular configurations tr_TR
dc.type article tr_TR
dc.relation.journal Turkish Journal Of Electrical Engineering And Computer Sciences tr_TR
dc.contributor.authorID 108608 tr_TR
dc.identifier.volume 24 tr_TR
dc.identifier.issue 5 tr_TR
dc.identifier.startpage 4267 tr_TR
dc.identifier.endpage 4283 tr_TR
dc.contributor.department Çankaya Üniversitesi, Mühendislik Fakültesi, Makine Mühendisliği Bölümü tr_TR


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