MODEL-FREE IMPROVEMENT OF CONTOURING ACCURACY OF NONSYMMETRIC PLANAR 3PRR PARALLEL KINEMATICS MACHINE

Abdur Rosyid; Bashar El-Khasawneh

doi:10.1115/IMECE2023-113191

MODEL-FREE IMPROVEMENT OF CONTOURING ACCURACY OF NONSYMMETRIC PLANAR 3PRR PARALLEL KINEMATICS MACHINE

Mechanical Engineering Department

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

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.

Original language	British English
Title of host publication	Dynamics, Vibration, and Control
Publisher	The American Society of Mechanical Engineers(ASME)
ISBN (Electronic)	9780791887639
DOIs	https://doi.org/10.1115/IMECE2023-113191
State	Published - 2023
Event	ASME 2023 International Mechanical Engineering Congress and Exposition, IMECE 2023 - New Orleans, United States Duration: 29 Oct 2023 → 2 Nov 2023

Publication series

Name	ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
Volume	6

Conference

Conference	ASME 2023 International Mechanical Engineering Congress and Exposition, IMECE 2023
Country/Territory	United States
City	New Orleans
Period	29/10/23 → 2/11/23

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 9 Industry, Innovation, and Infrastructure

Keywords

machining
model-free control
motion control
Parallel robots
position control

Access to Document

10.1115/IMECE2023-113191

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Rosyid, A., & El-Khasawneh, B. (2023). MODEL-FREE IMPROVEMENT OF CONTOURING ACCURACY OF NONSYMMETRIC PLANAR 3PRR PARALLEL KINEMATICS MACHINE. In Dynamics, Vibration, and Control Article V006T07A041 (ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE); Vol. 6). The American Society of Mechanical Engineers(ASME). https://doi.org/10.1115/IMECE2023-113191

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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",

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Rosyid, A & El-Khasawneh, B 2023, MODEL-FREE IMPROVEMENT OF CONTOURING ACCURACY OF NONSYMMETRIC PLANAR 3PRR PARALLEL KINEMATICS MACHINE. in Dynamics, Vibration, and Control., V006T07A041, ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE), vol. 6, The American Society of Mechanical Engineers(ASME), ASME 2023 International Mechanical Engineering Congress and Exposition, IMECE 2023, New Orleans, United States, 29/10/23. https://doi.org/10.1115/IMECE2023-113191

MODEL-FREE IMPROVEMENT OF CONTOURING ACCURACY OF NONSYMMETRIC PLANAR 3PRR PARALLEL KINEMATICS MACHINE. / Rosyid, Abdur ; El-Khasawneh, Bashar.
Dynamics, Vibration, and Control. The American Society of Mechanical Engineers(ASME), 2023. V006T07A041 (ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE); Vol. 6).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - MODEL-FREE IMPROVEMENT OF CONTOURING ACCURACY OF NONSYMMETRIC PLANAR 3PRR PARALLEL KINEMATICS MACHINE

AU - Rosyid, Abdur

AU - El-Khasawneh, Bashar

PY - 2023

Y1 - 2023

N2 - 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.

AB - 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.

KW - machining

KW - model-free control

KW - motion control

KW - Parallel robots

KW - position control

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BT - Dynamics, Vibration, and Control

PB - The American Society of Mechanical Engineers(ASME)

T2 - ASME 2023 International Mechanical Engineering Congress and Exposition, IMECE 2023

Y2 - 29 October 2023 through 2 November 2023

ER -

MODEL-FREE IMPROVEMENT OF CONTOURING ACCURACY OF NONSYMMETRIC PLANAR 3PRR PARALLEL KINEMATICS MACHINE

Abstract

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Conference

UN SDGs

Keywords

Access to Document

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