DocumentCode
2344809
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
Volume
2
fYear
2000
fDate
2000
Firstpage
1235
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control and Automation, 2000. Proceedings of the 3rd World Congress on
Conference_Location
Hefei
Print_ISBN
0-7803-5995-X
Type
conf
DOI
10.1109/WCICA.2000.863440
Filename
863440
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