Abstract
Parallel manipulators may present higher speed/acceleration ratios and energy efficiency when compared with serial manipulators. In addition, reducing their components’ inertia can further improve performance. However, this design alternative might yield vibrations requiring novel joint and task space control strategies. While the former involves precise models, the latter might require adequate computation vision schemes. These requirements impose critical challenges. This manuscript proposes a hybrid control strategy and experimentally investigates using a 3RRR prototype with flexible links. This hybrid strategy comprises two control loops: position-based visual servo and strain-based feedback control schemes. The strain-based loop uses a sliding mode control and the time derivative of the signals obtained by strain gauges installed in the flexible links. Compared with the position-based visual servo scheme, the hybrid strategy can considerably attenuate the vibrations since the approach reduced the overshoot response by 36% and the maximum value of the Euclidean error on position by 38%, on average.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
