Task-space impedance control of a parallel Delta robot using dual quaternions and a neural network

Author(s)

Noppeney, Victor ^[1] ; Boaventura, Thiago ^[1] ; Siqueira, Adriano ^[1]

Affiliation

^[1] Sao Carlos Sch Engn, Av Trabalhador Sao Carlense 400, Sao Carlos, SP - Brazil

• Document type: Journal article
• Source: Journal of the Brazilian Society of Mechanical Sciences and Engineering; v. 43, n. 9 SEP 2021.
• Web of Science Citations: 0

Abstract

The Delta robot, widely used in fast pick-and-place applications with pure position control, is a parallel kinematic chain with three rotational inputs resulting in three pure translations at the end-effector. This paper proposes a complete task-space impedance control with inverse dynamics to give this robot compliant behavior, enabling it to be used in tasks involving physical interaction. For that purpose, the well-known usage of dual quaternion algebra for kinematics modeling is novelly integrated with a neural network to compose a compact representation for the forward kinematics function, that is singularity-free and suitable for real-time calculation. This network computes the forward kinematics more than 150 times faster than a numeric equation solving algorithm, with an average estimation error of less than 0.5 mm. The proposed algorithm is implemented in a rigid body simulator, and the performance of the complete system is analyzed. (AU)

• FAPESP's process: 19/10773-3 - Transparency control of exoskeleton robots
• Grantee: Victor Tamassia Noppeney
• Support Opportunities: Scholarships in Brazil - Master
• FAPESP's process: 18/15472-9 - Hydraulic actuation impedance control for robots with legs and arms
• Grantee: Thiago Boaventura Cunha
• Support Opportunities: Research Grants - Young Investigators Grants