A C5 parallel robot identification and control View Full Text


Ontology type: schema:ScholarlyArticle     


Article Info

DATE

2010-04-16

AUTHORS

Brahim Achili, Boubaker Daachi, Arab Ali-Cherif, Yacine Amirat

ABSTRACT

The paper proposes a controller scheme based on a priori identification for a C5 parallel robot. First we realize the identification of dynamic parameters of the robot using the Least Squares technique. Different data are used for this step of identification. The cross validation permitted to select and confirm the identified parameters. After, a control scheme (computed torque) is applied to control the C5 parallel robot. The functions of this control scheme are based on precedent identified parameters. In order to reduce the effect of the identification error, we have added a robustness term based on sliding mode technique. The stability of the system in closed loop is presented using the Lyapunov principle. Experimental results of identification and control are presented and show the effectiveness of our methodology. More... »

PAGES

369-377

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/s12555-010-0223-7

DOI

http://dx.doi.org/10.1007/s12555-010-0223-7

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1012810962


Indexing Status Check whether this publication has been indexed by Scopus and Web Of Science using the SN Indexing Status Tool
Incoming Citations Browse incoming citations for this publication using opencitations.net

JSON-LD is the canonical representation for SciGraph data.

TIP: You can open this SciGraph record using an external JSON-LD service: JSON-LD Playground Google SDTT

[
  {
    "@context": "https://springernature.github.io/scigraph/jsonld/sgcontext.json", 
    "about": [
      {
        "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/09", 
        "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
        "name": "Engineering", 
        "type": "DefinedTerm"
      }, 
      {
        "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/0906", 
        "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
        "name": "Electrical and Electronic Engineering", 
        "type": "DefinedTerm"
      }, 
      {
        "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/0910", 
        "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
        "name": "Manufacturing Engineering", 
        "type": "DefinedTerm"
      }, 
      {
        "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/0913", 
        "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
        "name": "Mechanical Engineering", 
        "type": "DefinedTerm"
      }
    ], 
    "author": [
      {
        "affiliation": {
          "alternateName": "Computer Science Lab. LIASD, University of Paris 8, 2, rue de la libert\u00e9, 93526, Saint Denis Cedex, France", 
          "id": "http://www.grid.ac/institutes/grid.15878.33", 
          "name": [
            "Computer Science Lab. LIASD, University of Paris 8, 2, rue de la libert\u00e9, 93526, Saint Denis Cedex, France"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Achili", 
        "givenName": "Brahim", 
        "id": "sg:person.012635241571.80", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.012635241571.80"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "Images, Signals and Intelligent Systems Lab. LISSI, University of Paris-12 Val de Marne, 120-122 rue Paul Armangot, 94400, Vitry/Seine, France", 
          "id": "http://www.grid.ac/institutes/grid.508487.6", 
          "name": [
            "Images, Signals and Intelligent Systems Lab. LISSI, University of Paris-12 Val de Marne, 120-122 rue Paul Armangot, 94400, Vitry/Seine, France"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Daachi", 
        "givenName": "Boubaker", 
        "id": "sg:person.015624112136.83", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.015624112136.83"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "Computer Science Lab. LIASD, University of Paris 8, 2, rue de la libert\u00e9, 93526, Saint Denis Cedex, France", 
          "id": "http://www.grid.ac/institutes/grid.15878.33", 
          "name": [
            "Computer Science Lab. LIASD, University of Paris 8, 2, rue de la libert\u00e9, 93526, Saint Denis Cedex, France"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Ali-Cherif", 
        "givenName": "Arab", 
        "id": "sg:person.015623143571.32", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.015623143571.32"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "Images, Signals and Intelligent Systems Lab. LISSI, University of Paris-12 Val de Marne, 120-122 rue Paul Armangot, 94400, Vitry/Seine, France", 
          "id": "http://www.grid.ac/institutes/grid.508487.6", 
          "name": [
            "Images, Signals and Intelligent Systems Lab. LISSI, University of Paris-12 Val de Marne, 120-122 rue Paul Armangot, 94400, Vitry/Seine, France"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Amirat", 
        "givenName": "Yacine", 
        "id": "sg:person.013463045765.86", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.013463045765.86"
        ], 
        "type": "Person"
      }
    ], 
    "datePublished": "2010-04-16", 
    "datePublishedReg": "2010-04-16", 
    "description": "The paper proposes a controller scheme based on a priori identification for a C5 parallel robot. First we realize the identification of dynamic parameters of the robot using the Least Squares technique. Different data are used for this step of identification. The cross validation permitted to select and confirm the identified parameters. After, a control scheme (computed torque) is applied to control the C5 parallel robot. The functions of this control scheme are based on precedent identified parameters. In order to reduce the effect of the identification error, we have added a robustness term based on sliding mode technique. The stability of the system in closed loop is presented using the Lyapunov principle. Experimental results of identification and control are presented and show the effectiveness of our methodology.", 
    "genre": "article", 
    "id": "sg:pub.10.1007/s12555-010-0223-7", 
    "inLanguage": "en", 
    "isAccessibleForFree": false, 
    "isPartOf": [
      {
        "id": "sg:journal.1041911", 
        "issn": [
          "1598-6446", 
          "2005-4092"
        ], 
        "name": "International Journal of Control, Automation and Systems", 
        "publisher": "Springer Nature", 
        "type": "Periodical"
      }, 
      {
        "issueNumber": "2", 
        "type": "PublicationIssue"
      }, 
      {
        "type": "PublicationVolume", 
        "volumeNumber": "8"
      }
    ], 
    "keywords": [
      "C5 parallel robot", 
      "parallel robot", 
      "control scheme", 
      "robot identification", 
      "robot", 
      "robustness term", 
      "Lyapunov principle", 
      "different data", 
      "cross validation", 
      "identification errors", 
      "controller scheme", 
      "experimental results", 
      "scheme", 
      "least squares technique", 
      "squares technique", 
      "dynamic parameters", 
      "steps of identification", 
      "mode technique", 
      "technique", 
      "closed loop", 
      "error", 
      "effectiveness", 
      "system", 
      "methodology", 
      "identification", 
      "validation", 
      "step", 
      "order", 
      "parameters", 
      "control", 
      "data", 
      "principles", 
      "terms", 
      "loop", 
      "results", 
      "function", 
      "precedent", 
      "stability", 
      "effect", 
      "paper", 
      "C5 parallel robot identification", 
      "parallel robot identification"
    ], 
    "name": "A C5 parallel robot identification and control", 
    "pagination": "369-377", 
    "productId": [
      {
        "name": "dimensions_id", 
        "type": "PropertyValue", 
        "value": [
          "pub.1012810962"
        ]
      }, 
      {
        "name": "doi", 
        "type": "PropertyValue", 
        "value": [
          "10.1007/s12555-010-0223-7"
        ]
      }
    ], 
    "sameAs": [
      "https://doi.org/10.1007/s12555-010-0223-7", 
      "https://app.dimensions.ai/details/publication/pub.1012810962"
    ], 
    "sdDataset": "articles", 
    "sdDatePublished": "2021-11-01T18:14", 
    "sdLicense": "https://scigraph.springernature.com/explorer/license/", 
    "sdPublisher": {
      "name": "Springer Nature - SN SciGraph project", 
      "type": "Organization"
    }, 
    "sdSource": "s3://com-springernature-scigraph/baseset/20211101/entities/gbq_results/article/article_525.jsonl", 
    "type": "ScholarlyArticle", 
    "url": "https://doi.org/10.1007/s12555-010-0223-7"
  }
]
 

Download the RDF metadata as:  json-ld nt turtle xml License info

HOW TO GET THIS DATA PROGRAMMATICALLY:

JSON-LD is a popular format for linked data which is fully compatible with JSON.

curl -H 'Accept: application/ld+json' 'https://scigraph.springernature.com/pub.10.1007/s12555-010-0223-7'

N-Triples is a line-based linked data format ideal for batch operations.

curl -H 'Accept: application/n-triples' 'https://scigraph.springernature.com/pub.10.1007/s12555-010-0223-7'

Turtle is a human-readable linked data format.

curl -H 'Accept: text/turtle' 'https://scigraph.springernature.com/pub.10.1007/s12555-010-0223-7'

RDF/XML is a standard XML format for linked data.

curl -H 'Accept: application/rdf+xml' 'https://scigraph.springernature.com/pub.10.1007/s12555-010-0223-7'


 

This table displays all metadata directly associated to this object as RDF triples.

132 TRIPLES      21 PREDICATES      69 URIs      59 LITERALS      6 BLANK NODES

Subject Predicate Object
1 sg:pub.10.1007/s12555-010-0223-7 schema:about anzsrc-for:09
2 anzsrc-for:0906
3 anzsrc-for:0910
4 anzsrc-for:0913
5 schema:author Nbfaead930668418c99ed5cb385555f31
6 schema:datePublished 2010-04-16
7 schema:datePublishedReg 2010-04-16
8 schema:description The paper proposes a controller scheme based on a priori identification for a C5 parallel robot. First we realize the identification of dynamic parameters of the robot using the Least Squares technique. Different data are used for this step of identification. The cross validation permitted to select and confirm the identified parameters. After, a control scheme (computed torque) is applied to control the C5 parallel robot. The functions of this control scheme are based on precedent identified parameters. In order to reduce the effect of the identification error, we have added a robustness term based on sliding mode technique. The stability of the system in closed loop is presented using the Lyapunov principle. Experimental results of identification and control are presented and show the effectiveness of our methodology.
9 schema:genre article
10 schema:inLanguage en
11 schema:isAccessibleForFree false
12 schema:isPartOf N1eb16ee5eb054c749a4c792dfd775435
13 Nc89a211beb674207812d27e217af0157
14 sg:journal.1041911
15 schema:keywords C5 parallel robot
16 C5 parallel robot identification
17 Lyapunov principle
18 closed loop
19 control
20 control scheme
21 controller scheme
22 cross validation
23 data
24 different data
25 dynamic parameters
26 effect
27 effectiveness
28 error
29 experimental results
30 function
31 identification
32 identification errors
33 least squares technique
34 loop
35 methodology
36 mode technique
37 order
38 paper
39 parallel robot
40 parallel robot identification
41 parameters
42 precedent
43 principles
44 results
45 robot
46 robot identification
47 robustness term
48 scheme
49 squares technique
50 stability
51 step
52 steps of identification
53 system
54 technique
55 terms
56 validation
57 schema:name A C5 parallel robot identification and control
58 schema:pagination 369-377
59 schema:productId N58e0cdbf28c0409bac5561d991c38562
60 Na168dce88b2b421e81d6bde32e307e0e
61 schema:sameAs https://app.dimensions.ai/details/publication/pub.1012810962
62 https://doi.org/10.1007/s12555-010-0223-7
63 schema:sdDatePublished 2021-11-01T18:14
64 schema:sdLicense https://scigraph.springernature.com/explorer/license/
65 schema:sdPublisher N052e652e1530403d90bb6f827c57f500
66 schema:url https://doi.org/10.1007/s12555-010-0223-7
67 sgo:license sg:explorer/license/
68 sgo:sdDataset articles
69 rdf:type schema:ScholarlyArticle
70 N052e652e1530403d90bb6f827c57f500 schema:name Springer Nature - SN SciGraph project
71 rdf:type schema:Organization
72 N1eb16ee5eb054c749a4c792dfd775435 schema:issueNumber 2
73 rdf:type schema:PublicationIssue
74 N4b9f8df3b3974656b827922969989a51 rdf:first sg:person.013463045765.86
75 rdf:rest rdf:nil
76 N56f49647aee64434a5faeececd98f28a rdf:first sg:person.015624112136.83
77 rdf:rest Nad3ae2a8ed3541d6b8566dbea172986b
78 N58e0cdbf28c0409bac5561d991c38562 schema:name doi
79 schema:value 10.1007/s12555-010-0223-7
80 rdf:type schema:PropertyValue
81 Na168dce88b2b421e81d6bde32e307e0e schema:name dimensions_id
82 schema:value pub.1012810962
83 rdf:type schema:PropertyValue
84 Nad3ae2a8ed3541d6b8566dbea172986b rdf:first sg:person.015623143571.32
85 rdf:rest N4b9f8df3b3974656b827922969989a51
86 Nbfaead930668418c99ed5cb385555f31 rdf:first sg:person.012635241571.80
87 rdf:rest N56f49647aee64434a5faeececd98f28a
88 Nc89a211beb674207812d27e217af0157 schema:volumeNumber 8
89 rdf:type schema:PublicationVolume
90 anzsrc-for:09 schema:inDefinedTermSet anzsrc-for:
91 schema:name Engineering
92 rdf:type schema:DefinedTerm
93 anzsrc-for:0906 schema:inDefinedTermSet anzsrc-for:
94 schema:name Electrical and Electronic Engineering
95 rdf:type schema:DefinedTerm
96 anzsrc-for:0910 schema:inDefinedTermSet anzsrc-for:
97 schema:name Manufacturing Engineering
98 rdf:type schema:DefinedTerm
99 anzsrc-for:0913 schema:inDefinedTermSet anzsrc-for:
100 schema:name Mechanical Engineering
101 rdf:type schema:DefinedTerm
102 sg:journal.1041911 schema:issn 1598-6446
103 2005-4092
104 schema:name International Journal of Control, Automation and Systems
105 schema:publisher Springer Nature
106 rdf:type schema:Periodical
107 sg:person.012635241571.80 schema:affiliation grid-institutes:grid.15878.33
108 schema:familyName Achili
109 schema:givenName Brahim
110 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.012635241571.80
111 rdf:type schema:Person
112 sg:person.013463045765.86 schema:affiliation grid-institutes:grid.508487.6
113 schema:familyName Amirat
114 schema:givenName Yacine
115 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.013463045765.86
116 rdf:type schema:Person
117 sg:person.015623143571.32 schema:affiliation grid-institutes:grid.15878.33
118 schema:familyName Ali-Cherif
119 schema:givenName Arab
120 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.015623143571.32
121 rdf:type schema:Person
122 sg:person.015624112136.83 schema:affiliation grid-institutes:grid.508487.6
123 schema:familyName Daachi
124 schema:givenName Boubaker
125 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.015624112136.83
126 rdf:type schema:Person
127 grid-institutes:grid.15878.33 schema:alternateName Computer Science Lab. LIASD, University of Paris 8, 2, rue de la liberté, 93526, Saint Denis Cedex, France
128 schema:name Computer Science Lab. LIASD, University of Paris 8, 2, rue de la liberté, 93526, Saint Denis Cedex, France
129 rdf:type schema:Organization
130 grid-institutes:grid.508487.6 schema:alternateName Images, Signals and Intelligent Systems Lab. LISSI, University of Paris-12 Val de Marne, 120-122 rue Paul Armangot, 94400, Vitry/Seine, France
131 schema:name Images, Signals and Intelligent Systems Lab. LISSI, University of Paris-12 Val de Marne, 120-122 rue Paul Armangot, 94400, Vitry/Seine, France
132 rdf:type schema:Organization
 




Preview window. Press ESC to close (or click here)


...