Title :
A Model Free Synchronization Approach to Controls of Parallel Manipulators
Author :
Su, Y.X. ; Sun, Dong
Author_Institution :
Dept. of Manuf. Eng. & Eng. Manage., Hong Kong City Univ., Kowloon
Abstract :
A simple synchronized approach to controls of parallel manipulators is proposed, by incorporating a cross-coupling saturated nonlinear proportional-integral (PI) control into a common joint-space linear proportional-derivative (PD) control architecture, where the system stability can be guaranteed. The proposed control strategy does not require any model parameters and is able to stabilize motion of each actuator while synchronizing all actuators´ motions, so that differential position errors amongst actuators converge to zero. Experiments conducted on a three-DOF spatial parallel manipulator system demonstrate the effectiveness of the developed approach
Keywords :
PD control; PI control; manipulators; nonlinear control systems; stability; synchronisation; PD control; PI control; common joint-space linear proportional-derivative control; cross-coupling saturated nonlinear proportional-integral control; model-free synchronization; parallel manipulator control; Actuators; Control systems; Error correction; Manipulator dynamics; Motion control; Nonlinear control systems; PD control; Pi control; Proportional control; Stability;
Conference_Titel :
Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on
Conference_Location :
Shenyang
Print_ISBN :
0-7803-8614-8
DOI :
10.1109/ROBIO.2004.1521834
