Dynamics and adaptive fuzzy control of finite-time sliding mode of hexa-parallel robot using synchronization error

Master's Thesis in Mechanical Engineering

(Application Design)

Abstract

Dynamics and adaptive fuzzy control of time sliding mode Hexa-parallel robot limitation using synchronization error

The development and increase of industrial production and the subsequent economic and social growth of a society in the new century are tied to the automation of production processes. Robots are one of the main components of automating industries. After the extensive use of serial robots in industries and conducting basic research on their design and control in the last two decades, the attention of researchers has been drawn to the structure of parallel robots. One of the latest interesting designs among parallel robots is the Hexa parallel robot, which was also the subject of this thesis. In this thesis, we deal with the analytical solution of the problem of inverse kinematics, Lagrangian dynamics and Hexa robot control using synchronization error. Finally, we prove the stability of the controller based on the Lyapunov stability theory and check the performance of the controller in following different paths by changing the control parameters.  

Key words: inverse kinematics - Jacobian matrix - Lagrangian dynamics - synchronization error and compound position error - finite time sliding mode adaptive fuzzy control - Lyapunov function

Introduction

1-1- The history of the evolution of robots

Throughout history, humans have tried to use the power of nature in line with their needs. Cave paintings belonging to 15,000 years ago show the taming of horses and cows and the first mechanical exploitation of nature by humans. By riding a horse, man was able to achieve a much higher speed of movement, which was a vital necessity of Ice Age life in frequent migrations. Also, after settling down and discovering agriculture, he put the yoke on the neck of the cow, the sacred animal of the ancient world, without which the land could not be cultivated and human life would be endangered.

Although these were all great discoveries in the history of man's presence on earth, except for the wheel that made movement easier and more economical, until the last two or three centuries of the second millennium after the birth of Christ, the earth was the turbulent arena for the formation of new wisdom and the battle for survival. It was the remains of ancient civilizations. In this space, there was not much room for great inventions and discoveries, and if something were to happen, it would either be burned by the fire of the inquisition courts of the West or buried in the oblivion of the tired people of the East. In the dust of all this commotion, Jabir Inan Hayan is recognized as one of the pioneers of robotics due to the mysterious book Al-Ashjar. In this book, 1200 years ago, he designed mechanisms to imitate the movement of spiders and snakes. It is interesting that Jaber invented special notational methods for the explanations of his maps, which made it understandable only to his students. 400 years after Jabir, another Muslim scientist Al-Jazari designed and presented or completed many mechanisms that were controlled by water. Perhaps, if instead of the mechanisms in which engines were driven by water, the mechanism that he was very interested in had focused on steam power, the industrial revolution would have occurred 500 years before Europe in the East, with the invention of the steam engine. According to Morazin al-Jazari, he was a mechanical engineer interested in designing mechanisms. Al-Jazari is the first person who designed a humanoid robot with movement control based on water flow

After the industrial revolution and attention to experimental sciences, many efforts were made to design and build automatic or self-adjusting devices. The origin of these movements was the invention of the steam engine by the Englishman James Watt (Figure 2-1). This event was the key to the controlled use of human movement systems and the replacement of human arm power, horses and cows with boiling steam boilers.

After that, various steam engines sent a lot of profit to the pockets of designers and capitalists who supported them and caused the increasing growth of production and reduction of construction time.

After that, various steam engines sent a lot of profit to the pockets of designers and capitalists supporting them and caused the increasing growth of production and reduction of construction time, and contrary to popular belief, automation provided more job opportunities for workers and intermediaries due to the increase in production volume.

At the beginning of the 18th century, Jacquard invented a programmable weaving machine. At that time, no one thought that his initiative would later become one of the most important industrial components and even appear as a competitor for humans. After Jacquard, Miladret created a mechanical doll that could paint. For nearly a century, no one took these inventions seriously. Their inventions were very complex structures and, at the same time, unreliable for industrial mass production. In addition, engines and jacks did not yet exist or were very imprecise and uncontrollable. Let's skip the fact that no electronic sensors were made and the sensors were imprecise, heavy, mechanical and large.

Three years after the end of the First World War, the word robot was used by Carl Kapek, the author of the play "Rossum's Universal Robots" in 1921 from the Czech word "robotnic" which means worker. In this play, a humanoid machine gained superhuman strength and in the end rebelled against its creators. It took 25 years for the first explosion of robotic technology in 1946 by J. C. The American state will be hit. He invented a device that could magnetically record electronic signals and use them again for a mechanical machine.

His invention changed the path of control science from paper books to manufacturing workshops and factories. A year later, the birth of the transistor in Bell Labs created a storm in the field of technology. Mathematical theories were now finding their field of action and in this field, the knowledge of differential equations controlled the environment of human life. Six years later, in 1952, the first example of a numerical control machine after several years of research at MIT University. was displayed. Part of its programming language, E.P.T. Later, it evolved and was published in 1961.

In 1954, British inventor Ken Dowd filed for the registration of a robot for the first time. Simultaneously with this request, Eric Goff, an engineer of an English company, used his parallel robot to test the landing gear of the plane. It was the first parallel robot used in industry. Five years after Goff, the Plant Company introduced the first commercial robot to the market.

In 1961, the first Unimate commercial robot was installed at the Ford factory, to move a pressure casting machine

Five years after that, a Norwegian company installed a robot for painting in its factory. In 1967, a mobile robot called Shiki was created at the Stanford Research Institute. This robot had various sensors including camera and touch sensors and could move around itself. Until 1972, this university introduced an electric hand robot and a robot programming language called View [1], followed by the El language. Later, these two languages ??became the commercial language of Wall. A.S.A. company In 1974, he released a completely electric robot called IRB6. A year later, the Sigma robot was used in assembly operations, this was one of the first applications of robots in an assembly line. At the beginning of the 1980s, the system of removing objects from boxes by robots was demonstrated at the University of Red Island. This robot was able to remove the scattered pieces from the box using a telescope. The eighties was the decade of the emergence and evolution of robots. In 1982, after several years of efforts, IBM released the RS1 robot. The following year, reports were published about Westinghouse's research under the auspices of the American Science Foundation on a programmable and adaptive assembly system, which was considered a pilot project for assembly line programming using robots. In a robot exhibition in 1984, several types of indirect programming systems were offered. These systems made it possible for the robot program to be prepared using a graphic environment on personal computers and then transferred to the robot. At the same time, the idea of ??making a delta parallel robot was presented by Raymond Clavel. In 1991, Francis Pirot, by modifying the structure of the delta-parallel robot, introduced the hexa-parallel robot with six degrees of freedom for its end plate in an article.

Research in various fields of robotics continues.