Alternative Motion Control of a Parallel Mechanism With Actuation Redundancy
Year: 2025
Type: article
Abstract: 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.
Source: IEEE Access
Institution: Universidade de São Paulo
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,075
OpenAlex ID: W4411472007