Kinematic and Dynamical Modelling for Control of a Parallel Robot-based Surveillance/Sentry Device

Authors

  • Ricardo Zavala-Yoé Tecnológico de Monterrey, Escuela de Ingeniería y Ciencias, Mexico City, Mexico
  • Ricardo A. Ramírez-Mendoza Tecnológico de Monterrey, Escuela de Ingeniería y Ciencias, Mexico City, Mexico
  • Daniel Chaparro-Altamirano Tecnológico de Monterrey, Escuela de Ingeniería y Ciencias, Mexico City, Mexico

Keywords:

Artificial intelligence, dynamics, sliding mode controller, kinematics, parallel robots, surveillance systems

Abstract

We contribute with a surveillance and defence system based on a 3SPS-1S parallel manipulator. The central constraining leg of the mechanism increases the stiffness of the system and forces the manipulator to have three pure rotation degrees of freedom. Determining inverse kinematics is trivial but solving forward kinematics is done by a numerical-geometrical approach obtaining a unique solution via artificial neural networks (ANN) and Newton-Raphson’s method. An optimized workspace is calculated with a genetic algorithm (GA) and singularities are also computed. Inverse and forward dynamics of the manipulator are also solved for control purposes. Three different designs are presented: one is a classical PID controller and the other two are fuzzy PD controllers. One of them works in sliding mode.

Author Biography

Ricardo Zavala-Yoé, Tecnológico de Monterrey, Escuela de Ingeniería y Ciencias, Mexico City, Mexico

Mechatronics, Researcher

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Published

05-04-2015

How to Cite

Zavala-Yoé, R., Ramírez-Mendoza, R. A., & Chaparro-Altamirano, D. (2015). Kinematic and Dynamical Modelling for Control of a Parallel Robot-based Surveillance/Sentry Device. Advances in Military Technology, 10(1), 15–30. Retrieved from https://aimt.cz/index.php/aimt/article/view/1056

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