Improving path accuracy of a crank-type 6-dof parallel mechanism by stiction compensation

Research output: Contribution to journalArticle

12 Citations (Scopus)

Abstract

The path accuracy of parallel mechanisms depends on both the mechanical design and the motion control algorithm that minimizes the following error. The PID control algorithm is not suitable for very precise motion control since it cannot compensate non-linear phenomena such as backlash and static friction or stiction. This work proposes a stiction compensation algorithm to improve path accuracy of a crank-type 6-dof parallel mechanism. The stiction has been modeled as a dead-zone and has been experimentally identified. The results were compared with those of the classical PID including velocity and acceleration feed forward. © 2006 Elsevier Ltd. All rights reserved.
Original languageAmerican English
Pages (from-to)104-114
Number of pages92
JournalMechanism and Machine Theory
DOIs
StatePublished - 1 Jan 2008
Externally publishedYes

Fingerprint

Stiction
Motion control
Friction
Three term control systems
Compensation and Redress

Cite this

@article{f3b20807fff342a5820621c19118a03b,
title = "Improving path accuracy of a crank-type 6-dof parallel mechanism by stiction compensation",
abstract = "The path accuracy of parallel mechanisms depends on both the mechanical design and the motion control algorithm that minimizes the following error. The PID control algorithm is not suitable for very precise motion control since it cannot compensate non-linear phenomena such as backlash and static friction or stiction. This work proposes a stiction compensation algorithm to improve path accuracy of a crank-type 6-dof parallel mechanism. The stiction has been modeled as a dead-zone and has been experimentally identified. The results were compared with those of the classical PID including velocity and acceleration feed forward. {\circledC} 2006 Elsevier Ltd. All rights reserved.",
author = "E. Castillo-Casta{\~n}eda and Y. Takeda",
year = "2008",
month = "1",
day = "1",
doi = "10.1016/j.mechmachtheory.2006.12.002",
language = "American English",
pages = "104--114",
journal = "Mechanism and Machine Theory",
issn = "0094-114X",
publisher = "Elsevier Ltd",

}

Improving path accuracy of a crank-type 6-dof parallel mechanism by stiction compensation. / Castillo-Castañeda, E.; Takeda, Y.

In: Mechanism and Machine Theory, 01.01.2008, p. 104-114.

Research output: Contribution to journalArticle

TY - JOUR

T1 - Improving path accuracy of a crank-type 6-dof parallel mechanism by stiction compensation

AU - Castillo-Castañeda, E.

AU - Takeda, Y.

PY - 2008/1/1

Y1 - 2008/1/1

N2 - The path accuracy of parallel mechanisms depends on both the mechanical design and the motion control algorithm that minimizes the following error. The PID control algorithm is not suitable for very precise motion control since it cannot compensate non-linear phenomena such as backlash and static friction or stiction. This work proposes a stiction compensation algorithm to improve path accuracy of a crank-type 6-dof parallel mechanism. The stiction has been modeled as a dead-zone and has been experimentally identified. The results were compared with those of the classical PID including velocity and acceleration feed forward. © 2006 Elsevier Ltd. All rights reserved.

AB - The path accuracy of parallel mechanisms depends on both the mechanical design and the motion control algorithm that minimizes the following error. The PID control algorithm is not suitable for very precise motion control since it cannot compensate non-linear phenomena such as backlash and static friction or stiction. This work proposes a stiction compensation algorithm to improve path accuracy of a crank-type 6-dof parallel mechanism. The stiction has been modeled as a dead-zone and has been experimentally identified. The results were compared with those of the classical PID including velocity and acceleration feed forward. © 2006 Elsevier Ltd. All rights reserved.

UR - https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=36049046402&origin=inward

UR - https://www.scopus.com/inward/citedby.uri?partnerID=HzOxMe3b&scp=36049046402&origin=inward

U2 - 10.1016/j.mechmachtheory.2006.12.002

DO - 10.1016/j.mechmachtheory.2006.12.002

M3 - Article

SP - 104

EP - 114

JO - Mechanism and Machine Theory

JF - Mechanism and Machine Theory

SN - 0094-114X

ER -