Simultaneous design of parameters and controller of robotic manipulators: closed loop approach to practical implementation

Perfect Torque Compensation of Planar 5R Parallel Robot in Point-to-Point Motions, Optimal Control Approach

In this paper, a new approach is presented for perfect torque compensation of the robot in point-to-point motions. The proposed method is formulated as an open-loop optimal control problem. The problem is defined as optimal trajectory planning with adjustable design parameters to compensate applied torques of a planar 5R parallel robot for a given task, perfectly. To illustrate the effectiveness of the approach, the obtained optimal path is used as the reference command in the experiment. The experimental outputs show that the performance index has been reduced by over 80% compared to the typical design of the robot.