Title :
Stability analysis of trajectory tracing control of 6-DOF parallel manipulator
Author :
Fang, Hao ; Zhou, Bing ; Xu, Heng ; Feng, Zuren
Author_Institution :
Syst. Eng. Inst., Xi´´an Jiaotong Univ., China
Abstract :
Based on the dynamic model of 6-DOF parallel manipulators, a method used to investigate the stability of control strategies for trajectory tracing is proposed under a uniform frame. Using this method, the stability and the stable area of a classical control strategy, PD plus estimated nominal input, is discussed. And the method developed in this paper also has general use to other kinds of control strategies, so we can obtain their stability and the stable area in the same way. Simulation verified that the results which we had got using this control strategy had the same stability as we had analyzed
Keywords :
control system analysis; manipulators; stability; two-term control; 6-DOF parallel manipulator; PD control strategy; estimated nominal input control; stability analysis; trajectory tracing control; Aerospace simulation; Analytical models; Couplings; Equations; Gravity; Machining; Manipulator dynamics; PD control; Stability analysis; Symmetric matrices;
Conference_Titel :
Intelligent Control and Automation, 2000. Proceedings of the 3rd World Congress on
Conference_Location :
Hefei
Print_ISBN :
0-7803-5995-X
DOI :
10.1109/WCICA.2000.863440
