An Experimental Investigation of the Dynamic Performances of a High Speed 4-DOF 5R Parallel Robot Using Inverse Dynamics Control

摘要

High-speed pick-and-place industrial applications often use parallel kinematic robots due to their high stiffness and dynamic performance; furthermore, the latter not only depends on the mechanical characteristics of the robots but also on the control algorithm. The literature shows several theoretical contributions to such controllers, mainly tested at the simulation level or on simple proof-of-concept laboratory equipment that execute low-speed and simple trajectories. This paper presents an experimental investigation of the dynamic performance of an industrial high-speed 4-DOF 5R parallel robot designed for pick-and-place applications on moving objects. The inverse dynamics control in the task space is used as a control algorithm. The results show the contribution of all the components of the control algorithm to the motor torque, and the inverse dynamics controller performances are discussed also in comparison to those achievable with simpler PD or PID controllers in a joint space. Moreover, the paper shows the controller synthesis from a modern mechatronic point of view, and the effectiveness of the proposed solution for the tracking of complex high-speed trajectories in an industrial application.