Alternative Motion Control of a Parallel Mechanism With Actuation Redundancy
Among the advantages of redundantly actuated mechanisms, one can mention the higher operational robustness, the feasibility of reduced power actuators, increasing the load capacity of the mechanism. This work proposes a motion control for a parallel mechanism with actuation redundancy, characterized...
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IEEE
2025-01-01
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| Online Access: | https://ieeexplore.ieee.org/document/11045387/ |
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| author | Decio de Moura Rinaldi Tarcisio-Antonio Hess-Coelho |
| author_facet | Decio de Moura Rinaldi Tarcisio-Antonio Hess-Coelho |
| author_sort | Decio de Moura Rinaldi |
| collection | DOAJ |
| description | Among the advantages of redundantly actuated mechanisms, one can mention the higher operational robustness, the feasibility of reduced power actuators, increasing the load capacity of the mechanism. This work proposes a motion control for a parallel mechanism with actuation redundancy, characterized by simplicity and effectiveness related to the implementation and accuracy, respectively. Hence, an experimental test-bed is built with three main systems, where the end-effector location is directly determined. Regarding the motion planning, some indices are proposed in order to select the appropriate non-redundant actuation modes that can achieve comparable performances with respect to the redundant one. Experimental results evidenced a good correlation between those indices and the path tracking error. For the longest path, the mean and maximum values of this metric for a non-redundant actuation mode were 20% lower than the redundant mode. Moreover, other experimental tests revealed that the proposed control has the capability to switch between the actuation modes and to overcome type-II singularities. |
| format | Article |
| id | doaj-art-b215b5f8e3ed4e17b1ffaf8b0382e982 |
| institution | Kabale University |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-b215b5f8e3ed4e17b1ffaf8b0382e9822025-08-20T03:29:35ZengIEEEIEEE Access2169-35362025-01-011311187911189110.1109/ACCESS.2025.358172411045387Alternative Motion Control of a Parallel Mechanism With Actuation RedundancyDecio de Moura Rinaldi0Tarcisio-Antonio Hess-Coelho1https://orcid.org/0000-0002-7000-6323Department of Mechatronics and Mechanical Systems Engineering, Escola Politécnica, Universidade de São Paulo, São Paulo, BrazilDepartment of Mechatronics and Mechanical Systems Engineering, Escola Politécnica, Universidade de São Paulo, São Paulo, BrazilAmong the advantages of redundantly actuated mechanisms, one can mention the higher operational robustness, the feasibility of reduced power actuators, increasing the load capacity of the mechanism. This work proposes a motion control for a parallel mechanism with actuation redundancy, characterized by simplicity and effectiveness related to the implementation and accuracy, respectively. Hence, an experimental test-bed is built with three main systems, where the end-effector location is directly determined. Regarding the motion planning, some indices are proposed in order to select the appropriate non-redundant actuation modes that can achieve comparable performances with respect to the redundant one. Experimental results evidenced a good correlation between those indices and the path tracking error. For the longest path, the mean and maximum values of this metric for a non-redundant actuation mode were 20% lower than the redundant mode. Moreover, other experimental tests revealed that the proposed control has the capability to switch between the actuation modes and to overcome type-II singularities.https://ieeexplore.ieee.org/document/11045387/Actuation redundancycontrolexperimental testsparallel mechanismsingularities |
| spellingShingle | Decio de Moura Rinaldi Tarcisio-Antonio Hess-Coelho Alternative Motion Control of a Parallel Mechanism With Actuation Redundancy IEEE Access Actuation redundancy control experimental tests parallel mechanism singularities |
| title | Alternative Motion Control of a Parallel Mechanism With Actuation Redundancy |
| title_full | Alternative Motion Control of a Parallel Mechanism With Actuation Redundancy |
| title_fullStr | Alternative Motion Control of a Parallel Mechanism With Actuation Redundancy |
| title_full_unstemmed | Alternative Motion Control of a Parallel Mechanism With Actuation Redundancy |
| title_short | Alternative Motion Control of a Parallel Mechanism With Actuation Redundancy |
| title_sort | alternative motion control of a parallel mechanism with actuation redundancy |
| topic | Actuation redundancy control experimental tests parallel mechanism singularities |
| url | https://ieeexplore.ieee.org/document/11045387/ |
| work_keys_str_mv | AT deciodemourarinaldi alternativemotioncontrolofaparallelmechanismwithactuationredundancy AT tarcisioantoniohesscoelho alternativemotioncontrolofaparallelmechanismwithactuationredundancy |