Dynamic model based cross-coupled control of parallel manipulators

Author

Shang, Weiwei ; Cong, Shuang ; Ge, Yuan

Author_Institution

Dept. of Autom., Univ. of Sci. & Technol. of China, Hefei, China

fYear

2011

fDate

21-25 June 2011

Firstpage

979

Lastpage

984

Abstract

The dynamic model based cross-coupled control is developed to improve the coordination motion relation between multiple kinematic chains in parallel manipulators. According to the mechanism characteristic of the parallel manipulators, two different types of synchronization error of the kinematic chains are defined in the joint space of active joints and in the task space of end-effector, respectively. By using the synchronization error, the cross-coupled control law in the task space is designed based on the dynamic model. The trajectory tracking experiments of an actual planar parallel manipulator are carried out, and then the control performances between the cross-coupled controller and the augmented PD (APD) controller are compared.

Keywords

end effectors; manipulator kinematics; motion control; augmented PD controller; coordination motion relation; cross-coupled control; dynamic model; end-effector; multiple kinematic chains; parallel manipulators; planar parallel manipulator; synchronization error; trajectory tracking; Aerospace electronics; Joints; Kinematics; Manipulator dynamics; Synchronization; Trajectory; cross-coupled control; parallel manipulator; synchronization error; task space;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation (WCICA), 2011 9th World Congress on

Conference_Location

Taipei

Print_ISBN

978-1-61284-698-9

Type

conf

DOI

10.1109/WCICA.2011.5970662

Filename

5970662