Trabajo presentado en la IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), celebrada en Madrid, del 1 al 5 de octubre de 2018 ; Parallel robots exhibit the so-called forward singularities, which complicate substantially the planning and control of their motions. Often, such complications are circumvented by restricting the motions to singularity-free regions of the workspace. However, this comes at the expense of reducing the motion range of the robot substantially. It is for this reason that, recently, efforts are underway to control singularity-crossing trajectories. This paper proposes a reliable controller to stabilize such kind of trajectories. The controller is based on the classical theory of linear quadratic regulators, which we adapt appropriately to the case of parallel robots. As opposed to traditional computed-torque methods, the obtained controller does not rely on expensive inverse dynamics computations. Instead, it uses an optimal control law that is easy to evaluate, and does not generate instabilities at forward singularities. The performance of the controller is exemplified on a five-bar parallel robot accomplishing two tasks that require the traversal of singularities ; This work has been partially funded by the Spanish Ministry of Economy and Competitiveness under projects DPI2014-57220-C2-2-P and DPI2017-88282-P. ; Peer reviewed


    Access

    Download


    Export, share and cite



    Title :

    A singularity-robust LQR controller for parallel robots



    Publication date :

    2019-01-07



    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    A singularity-robust LQR controller for parallel robots

    Bordalba Llaberia, Ricard / Porta Pleite, Josep Maria / Ros Giralt, Lluís | BASE | 2018

    Free access


    Robust Predictive Motion Controller for Tracked Robots

    González, Ramón / Rodríguez, Francisco / Guzmán, José Luis | Springer Verlag | 2014



    The robust design of parallel spherical robots

    Al-Widyan, Khalid | Online Contents | 2011