Optimization of trajectory tracking control of 3-DOF translational robot use PSO method based on inverse dynamics control for surgery application

This research presents an optimal trajectory tracking control method for improving the accuracy of 3-DOF translational parallel robots in the surgery field based on the Particle Swarm Optimization (PSO) method. The 3-DOF translational robot has three translational degrees of freedom, which consists...

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Autores principales:	Ngoc Pham Van Bach, Quan Dam Hai, Thanh Bui Trung
Formato:	article
Lenguaje:	EN
Publicado:	JVE International 2021
Materias:	parallel robot trajectory tracking control inverse dynamics control particle swarm optimization Mechanical engineering and machinery TJ1-1570
Acceso en línea:	https://doaj.org/article/eb74d178c3be41d688f8040b4c2228ef
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spelling	oai:doaj.org-article:eb74d178c3be41d688f8040b4c2228ef2021-11-15T19:20:56ZOptimization of trajectory tracking control of 3-DOF translational robot use PSO method based on inverse dynamics control for surgery application1392-87162538-846010.21595/jve.2021.21997https://doaj.org/article/eb74d178c3be41d688f8040b4c2228ef2021-08-01T00:00:00Zhttps://www.jvejournals.com/article/21997https://doaj.org/toc/1392-8716https://doaj.org/toc/2538-8460This research presents an optimal trajectory tracking control method for improving the accuracy of 3-DOF translational parallel robots in the surgery field based on the Particle Swarm Optimization (PSO) method. The 3-DOF translational robot has three translational degrees of freedom, which consists of three arms with three revolute joints and twelve spherical joints. Firstly, the kinematics model is established; and the dynamics equation of the Robot is built by applying the Lagrange equation of the first type, and then the dynamics controller of 3-DOF translational robot is designed base on the dynamics equations. Secondly, a trajectory tracking controller model using the Particle Swarm Optimization based on inverse dynamics controlled method for 3-DOF translational Robot is designed. The control performance results of the proposed controller is evaluated by simulation and compared with the other published research results. Finally, the proposed controller can achieve better tracking performance in comparison with other controllers as Proportional Integral Derivative (PID) controller, GPI controller, and adaptive controller.Ngoc Pham Van BachQuan Dam HaiThanh Bui TrungJVE Internationalarticleparallel robottrajectory tracking controlinverse dynamics controlparticle swarm optimizationMechanical engineering and machineryTJ1-1570ENJournal of Vibroengineering, Vol 23, Iss 7, Pp 1591-1601 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	parallel robot trajectory tracking control inverse dynamics control particle swarm optimization Mechanical engineering and machinery TJ1-1570
spellingShingle	parallel robot trajectory tracking control inverse dynamics control particle swarm optimization Mechanical engineering and machinery TJ1-1570 Ngoc Pham Van Bach Quan Dam Hai Thanh Bui Trung Optimization of trajectory tracking control of 3-DOF translational robot use PSO method based on inverse dynamics control for surgery application
description	This research presents an optimal trajectory tracking control method for improving the accuracy of 3-DOF translational parallel robots in the surgery field based on the Particle Swarm Optimization (PSO) method. The 3-DOF translational robot has three translational degrees of freedom, which consists of three arms with three revolute joints and twelve spherical joints. Firstly, the kinematics model is established; and the dynamics equation of the Robot is built by applying the Lagrange equation of the first type, and then the dynamics controller of 3-DOF translational robot is designed base on the dynamics equations. Secondly, a trajectory tracking controller model using the Particle Swarm Optimization based on inverse dynamics controlled method for 3-DOF translational Robot is designed. The control performance results of the proposed controller is evaluated by simulation and compared with the other published research results. Finally, the proposed controller can achieve better tracking performance in comparison with other controllers as Proportional Integral Derivative (PID) controller, GPI controller, and adaptive controller.
format	article
author	Ngoc Pham Van Bach Quan Dam Hai Thanh Bui Trung
author_facet	Ngoc Pham Van Bach Quan Dam Hai Thanh Bui Trung
author_sort	Ngoc Pham Van Bach
title	Optimization of trajectory tracking control of 3-DOF translational robot use PSO method based on inverse dynamics control for surgery application
title_short	Optimization of trajectory tracking control of 3-DOF translational robot use PSO method based on inverse dynamics control for surgery application
title_full	Optimization of trajectory tracking control of 3-DOF translational robot use PSO method based on inverse dynamics control for surgery application
title_fullStr	Optimization of trajectory tracking control of 3-DOF translational robot use PSO method based on inverse dynamics control for surgery application
title_full_unstemmed	Optimization of trajectory tracking control of 3-DOF translational robot use PSO method based on inverse dynamics control for surgery application
title_sort	optimization of trajectory tracking control of 3-dof translational robot use pso method based on inverse dynamics control for surgery application
publisher	JVE International
publishDate	2021
url	https://doaj.org/article/eb74d178c3be41d688f8040b4c2228ef
work_keys_str_mv	AT ngocphamvanbach optimizationoftrajectorytrackingcontrolof3doftranslationalrobotusepsomethodbasedoninversedynamicscontrolforsurgeryapplication AT quandamhai optimizationoftrajectorytrackingcontrolof3doftranslationalrobotusepsomethodbasedoninversedynamicscontrolforsurgeryapplication AT thanhbuitrung optimizationoftrajectorytrackingcontrolof3doftranslationalrobotusepsomethodbasedoninversedynamicscontrolforsurgeryapplication
_version_	1718426879977848832

Optimization of trajectory tracking control of 3-DOF translational robot use PSO method based on inverse dynamics control for surgery application

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