Abstract
According to the parallel mechanism theory, this paper proposes a novel intelligent robotic spine brace for the treatment of scoliosis. Nevertheless, this type of parallel mechanism has the following disadvantages: strong dynamic coupling in task space or joint space, adverse effect of system’s gravity, and lower response frequency in roll and pitch orientations, which seriously affect the performance of the system. In order to solve those boring problems, this paper presents a novel active force control structure, modal space dynamic feed-forward (MSDF) force control strategy. Besides, this paper expresses the intelligent robotic brace system model including the dynamic and kinematic models and the electric actuator model with Kane strategy. The stability of the intelligent system with the novel control strategy is proved. In order to evaluate the performance of the presented MSDF force control method, this paper builds the parallel mechanism experimental platform. It can be seen from experimental results that the proposed motion control method solves these boring problems well.
Highlights
In order to solve those boring problems, this paper presents a novel active force control structure, modal space dynamic feed-forward (MSDF) force control strategy
The main contribution of this article is to design a new control structure, modal space dynamic feed-forward (MSDF) active force control for parallel robotic manipulators which can eliminate the bad effects of those inherit properties such as dynamic coupling, low response frequency, and vai vaci lni ai
This paper investigates modal space dynamic feed-forward control structure for parallel robotic manipulator, to overcome those boring problems
Summary
Scoliosis is a three-dimensional (3D) abnormal curvature of the spine [1]. current braces are mainly used to treat the lateral curvature of the spine, which are little effective for the anterior and posterior curvature of the spine [2,3,4,5]. Since those inherent shortcomings of the parallel mechanism, the performance of parallel robotic manipulator cannot be achieved satisfactorily using the above-mentioned force control strategies in joint space and work space For solving those inherent properties, a decoupling motion control method is studied in modal space [34, 35]. Yang et al proposed a novel modal space decouple control method for force trajectory tracking, which solved the dynamic coupling in force field [36] This novel control structure is developed based on the classical PID control strategy, which decoupled the dynamic coupling, but neglected gravity term of the robot system. The main contribution of this article is to design a new control structure, modal space dynamic feed-forward (MSDF) active force control for parallel robotic manipulators which can eliminate the bad effects of those inherit properties such as dynamic coupling, low response frequency, and vai vaci lni ai. In comparison to those control structures in traditional physical space, the proposed control strategy improves performances of parallel mechanism effectively
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