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Paper ThAP.31

Alinia, Sahar (Concordia University), XIE, WENFANG (Concordia University), Hoa, Soung (Concordia University)

Identification of the Dynamic Model of 6 RSS Parallel Robot's Actuators

Scheduled for presentation during the Poster session "Late Breaking Posters" (ThAP), Thursday, October 1, 2015, 09:45−10:00, Saal G1

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on March 22, 2019

Keywords Dynamics, Parallel Robots, Actuation and Mechanism

Abstract

The 6-DOF parallel robot with RSS structure and DC motor is considered as one of the most popular Stewart robots. A crucial step towards developing a precise dynamic model for a DC motor is to identify its parameters, such as the electrical resistance, the electric inductance, the motor viscous friction constant, and the motor torque constant. In this project, we apply the Genetic Algorithm to find the optimized parameters of the dynamic model of the 6 DC actuators. In order to obtain the data for the identification, we added a PID controller to the system to stabilize the system. The identification procedure is shown as follows: the desired trajectory is given to actuators, a cost function is defined based on the difference of the error between the desired trajectory and the output and the parameters of the dynamic model are obtained by minimizing the defined cost function. Then, the dynamics model of DC motor based on the Genetic Algorithm results is built. The parameters of the designed PID controller are optimized through an evolving process using the Genetic Algorithm simultaneously. In order to evaluate the identified dynamic model, an experimental set up is designed to measure the angles of the Stewart's (the robot) motors. The same input signals are fed to both the dynamics model and the experiment to obtain the output i.e. angle of motors respectively. It is observed that the output of identified dynamic model is in agreement with that of experimental set up. The experimental results show that the proposed method can find the fitting parameters of both the dynamics model of actuators and PID parameters.

 

 

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