Title :
Analysis of Coupling Effects on Hydraulic Controlled 6 Degrees of Freedom Parallel Manipulator Using Joint Space Inverse Mass Matrix
Author :
Ogbobe, P. ; Hongzhou, Jiang ; Jingfeng, He ; Chifu, Yang ; Junwei, Han
Author_Institution :
Sch. of Mechatron. Eng., Harbin Inst. of Technol., Harbin, China
Abstract :
This paper presents an analysis of the coupling effects between degrees of freedom of a hydraulic controlled six DOF parallel manipulator. Based on the singular value decomposition to the properties of its joint space inverse mass matrix, the method is put forward to analyze coupling effects between degrees of freedom using a transformation matrix, the product of transposed Jabobian matrix and an orthogonal unitary matrix, of which each element represents decoupled modal space coordinates with respect to physical task space frame. The simulation results in frequency domain prove the theoretical analysis right. The analysis will provide useful information to mechanism and controller designer, to assess from concept the coupling effects between DOF in respect of the requirement for a particular application and also for the study on decoupling control strategies.
Keywords :
Jacobian matrices; hydraulic control equipment; manipulators; singular value decomposition; coupling effects; decoupled modal space coordinates; decoupling control strategies; hydraulic controlled 6 degrees of freedom parallel manipulator; joint space inverse mass matrix; orthogonal unitary matrix; singular value decomposition; transformation matrix; transposed Jacobian matrix; Analytical models; End effectors; Frequency domain analysis; Jacobian matrices; Kinematics; Manipulator dynamics; Matrix decomposition; Singular value decomposition; Space technology; Weight control; 6 degrees of freedom; coupling effects; othorgonal unitary matrix; parallel manipulator; singular value decomposition;
Conference_Titel :
Intelligent Computation Technology and Automation, 2009. ICICTA '09. Second International Conference on
Conference_Location :
Changsha, Hunan
Print_ISBN :
978-0-7695-3804-4
DOI :
10.1109/ICICTA.2009.439