Advanced control of parallel robots for high performance applications in the automotive sector. Control avanzado de robots paralelos para aplicaciones de alto rendimiento en el sector de la automoción (S-PE11UN110)
- Lead Researcher: Asier Zubizarreta Picó - (01/01/2011 - 31/12/2012)
- Research Area: Advanced control robotics
- Funding Body: Department of Industry, Innovation, Commerce, and Tourism
The main objective of this project is to analyse the capacity of current parallel kinematic structures as a test bench for automotives, allowing for a reduction in the cost of developing these elements and the necessary testing hours on track.
For this, we will approach from several areas. First, we will look at the synthesis and design of parallel robots, in order to determine the most adequate structure to meet the needs of the application, as well as the sizing. Second, kinematic and dynamic modelling will allow us to both verify the previous design by using simulation, and to produce data about the robot´s movements for the design of advanced control schematics. Finally, we will address the issue of control, which is of great importance in these applications.
Amongst the achievements of the project, we can highlight the following:
- The development of a dynamic modelling methodology for this platform.
- Computed torque control, Iterative Control, Learning Control and Sliding-Mode, that has allowed us to analyse the advantages and features of each one.
This work has been funded by the Department of Industry, Innovation, Commerce and Tourism in the Saiotek Project (S-PE11UN110) framework: Advanced parallel robot control for high performance applications in the automotive sector.
During the development of the prototype, we have developed communication libraries between direct-drive lineal actuators based on EtherCAT from Omron and third controllers.