Task Space Position Control of Slider-Crank Mechanisms Using Simple Tuning Techniques Without Linearization Methods

Item request has been placed! ×
Item request cannot be made. ×
loading   Processing Request
  • Additional Information
    • Publication Information:
      USA: IEEE
    • Publication Date:
      2020
    • Abstract:
      In this work, a position control in task space for slider-crank mechanisms is presented. In order to apply linear controllers it is required to linearize the mechanism dynamics at an equilibrium point. However, complete dynamic knowledge is needed and the linearization technique gives an oversimplified model that affects the control performance. In this work, it is proposed a novel method to design task space controllers without using the complete knowledge of the mechanism dynamics and linearization methods. From the extended dynamic model of parallel robots, it can be seen that the end-effector (slider) dynamics is expressed as a linear system that can be used directly for the control design instead of the complete mechanism linear dynamics. The approach requires a minimal knowledge of the mechanism dynamics and avoids linearization methods. To verify our approach, it is used pole placement and sliding mode controllers whose gains are tuned according to the slider dynamics. A linear sensor is mounted at the slider to measure its position and avoids considering noise and disturbances at links before the slider. Simulations and experiments are presented to validate our approach using two kinds of slider-crank mechanisms.
    • Author Affiliations:
      Departamento de Control Automático, CINVESTAV-IPN Instituto Politécnico Nacional, Mexico City, Mexico
      Unidad Profesional Interdisciplinaria en Ingeniería y Tecnologías Avanzadas-IPN (UPIITA), Instituto Politécnico Nacional, Mexico City, Mexico
      Sección de Estudios de Posgrado e Investigación ESIME-Zacatenco, Instituto Politécnico Nacional, Mexico City, Mexico
    • ISSN:
      2169-3536
    • Accession Number:
      10.1109/ACCESS.2020.2981187
    • Rights:
      Copyright 2013, IEEE
    • AMSID:
      9037353
    • Date of Current Version:
      2020
    • Document Subtype:
      IEEE Journal
    • Accession Number:
      edseee.9037353
  • Citations
    • ABNT:
      PERRUSQUIA, A. et al. Task Space Position Control of Slider-Crank Mechanisms Using Simple Tuning Techniques Without Linearization Methods. IEEE Access, Access, IEEE, [s. l.], v. 8, p. 58435–58442, 2020. DOI 10.1109/ACCESS.2020.2981187. Disponível em: http://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=edseee&AN=edseee.9037353. Acesso em: 28 set. 2020.
    • AMA:
      Perrusquia A, Flores-Campos JA, Torres-Sanmiguel CR, Gonzalez N. Task Space Position Control of Slider-Crank Mechanisms Using Simple Tuning Techniques Without Linearization Methods. IEEE Access, Access, IEEE. 2020;8:58435-58442. doi:10.1109/ACCESS.2020.2981187
    • APA:
      Perrusquia, A., Flores-Campos, J. A., Torres-Sanmiguel, C. R., & Gonzalez, N. (2020). Task Space Position Control of Slider-Crank Mechanisms Using Simple Tuning Techniques Without Linearization Methods. IEEE Access, Access, IEEE, 8, 58435–58442. https://doi.org/10.1109/ACCESS.2020.2981187
    • Chicago/Turabian: Author-Date:
      Perrusquia, A., J.A. Flores-Campos, C.R. Torres-Sanmiguel, and N. Gonzalez. 2020. “Task Space Position Control of Slider-Crank Mechanisms Using Simple Tuning Techniques Without Linearization Methods.” IEEE Access, Access, IEEE 8 (January): 58435–42. doi:10.1109/ACCESS.2020.2981187.
    • Harvard:
      Perrusquia, A. et al. (2020) ‘Task Space Position Control of Slider-Crank Mechanisms Using Simple Tuning Techniques Without Linearization Methods’, IEEE Access, Access, IEEE, 8, pp. 58435–58442. doi: 10.1109/ACCESS.2020.2981187.
    • Harvard: Australian:
      Perrusquia, A, Flores-Campos, JA, Torres-Sanmiguel, CR & Gonzalez, N 2020, ‘Task Space Position Control of Slider-Crank Mechanisms Using Simple Tuning Techniques Without Linearization Methods’, IEEE Access, Access, IEEE, vol. 8, pp. 58435–58442, viewed 28 September 2020, .
    • MLA:
      Perrusquia, A., et al. “Task Space Position Control of Slider-Crank Mechanisms Using Simple Tuning Techniques Without Linearization Methods.” IEEE Access, Access, IEEE, vol. 8, Jan. 2020, pp. 58435–58442. EBSCOhost, doi:10.1109/ACCESS.2020.2981187.
    • Chicago/Turabian: Humanities:
      Perrusquia, A., J.A. Flores-Campos, C.R. Torres-Sanmiguel, and N. Gonzalez. “Task Space Position Control of Slider-Crank Mechanisms Using Simple Tuning Techniques Without Linearization Methods.” IEEE Access, Access, IEEE 8 (January 1, 2020): 58435–42. doi:10.1109/ACCESS.2020.2981187.
    • Vancouver/ICMJE:
      Perrusquia A, Flores-Campos JA, Torres-Sanmiguel CR, Gonzalez N. Task Space Position Control of Slider-Crank Mechanisms Using Simple Tuning Techniques Without Linearization Methods. IEEE Access, Access, IEEE [Internet]. 2020 Jan 1 [cited 2020 Sep 28];8:58435–42. Available from: http://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=edseee&AN=edseee.9037353