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Position-based visual servoing of a 6-RSS parallel robot using adaptive sliding mode control.

Ningyu Zhu¹, Wen-Fang Xie¹, Henghua Shen¹

¹Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, Quebec H3G 1M8, Canada.

ISA Transactions

|November 4, 2024

Summary

This summary is machine-generated.

This study introduces a vision-based control for parallel robots, enhancing trajectory tracking accuracy. The adaptive sliding mode control system effectively manages complex robot dynamics and uncertainties.

Keywords:

Adaptive sliding mode control Parallel robot Position-based visual servoing RBF neural network

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Area of Science:

Robotics
Control Systems Engineering
Computer Vision

Background:

Trajectory tracking for parallel robots is complex due to intricate dynamics and kinematics.
Existing control methods often struggle with real-time accuracy and adaptability.

Purpose of the Study:

To develop a robust position-based visual servoing (PBVS) control strategy for a 6-Revolute-Spherical-Spherical (6-RSS) parallel robot.
To enhance trajectory tracking performance under uncertain and time-varying conditions.

Main Methods:

Implemented a PBVS approach using a C-Track 780 photogrammetry sensor for real-time end-effector pose measurement.
Employed an adaptive Kalman filter to improve visual measurement accuracy by mitigating noise.
Designed an adaptive sliding mode controller with a radial basis function (RBF) neural network for auto-tuning control gains.

Main Results:

The proposed controller demonstrated effective trajectory tracking for the 6-RSS parallel robot.
The adaptive Kalman filter improved pose estimation accuracy.
The RBF-based adaptive sliding mode control showed robustness against system uncertainties and time-varying conditions.

Conclusions:

The developed PBVS strategy with adaptive sliding mode control offers a superior solution for parallel robot trajectory tracking.
Experimental validation confirmed the effectiveness and robustness of the proposed control system.