@inproceedings{0465dd0eb134478c9b830caf154292ae,
title = "MODEL-FREE IMPROVEMENT OF CONTOURING ACCURACY OF NONSYMMETRIC PLANAR 3PRR PARALLEL KINEMATICS MACHINE",
abstract = "As the basic proportional-integral-derivative (PID) control with off-the-shelf control hardware is still the widely used standard of industrial control practice, it is important to find some practical ways to increase the contouring accuracy without a need to apply a model-based control scheme which requires tedious dynamic modeling and leads to high computational cost. This paper applied three model-free approaches, namely decentralized PID control with linear PID gain scheduling, decentralized PID control with velocity trajectory input, and decentralized PID control with high-order polynomial motion profile, to a geometrically nonsymmetric parallel kinematics machine (PKM) having 3PRR topology (3 = number of legs, P = prismatic joint, R = revolute joint) to improve its contouring accuracy. The experiments showed that the linear PID gain scheduling does not provide a significant improvement in the PKM contouring accuracy, whereas the velocity trajectory input and the higher-order motion profiles significantly improve the PKM contouring accuracy.",
keywords = "machining, model-free control, motion control, Parallel robots, position control",
author = "Abdur Rosyid and Bashar El-Khasawneh",
note = "Publisher Copyright: Copyright {\textcopyright} 2023 by ASME.; ASME 2023 International Mechanical Engineering Congress and Exposition, IMECE 2023 ; Conference date: 29-10-2023 Through 02-11-2023",
year = "2023",
doi = "10.1115/IMECE2023-113191",
language = "British English",
series = "ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)",
publisher = "The American Society of Mechanical Engineers(ASME)",
booktitle = "Dynamics, Vibration, and Control",
address = "United States",
}
