A validation study of PD control of a closed-chain mechanical system

Author

Ghorbel, Fathi ; Gunawardana, Ruvinda

Author_Institution

Dept. of Mech. Eng., Rice Univ., Houston, TX, USA

Volume

2

fYear

1997

fDate

10-12 Dec 1997

Firstpage

1998

Abstract

In this paper, we briefly review recent results by the authors on the formulation of the equations of motion of closed-chain mechanisms and the development of PD control strategies with guaranteed Lyapunov asymptotic stability. We then introduce and derive the equations of motion of the Rice Planar Delta Robot which was designed and built at Rice University as a test bed to perform control experiments for closed-chain mechanisms. Finally, we present simulation as well as experimental results to illustrate the successful application of PD plus simple gravity control strategy for this class of dynamical systems

Keywords

Lyapunov methods; asymptotic stability; manipulators; two-term control; PD control; PD control strategies; Rice Planar Delta Robot; closed-chain mechanical system; closed-chain mechanisms; dynamical systems; gravity control strategy; guaranteed Lyapunov asymptotic stability; manipulators; motion equations formulation; Asymptotic stability; Equations; Gravity; Mechanical systems; Motion control; PD control; Parallel robots; Performance evaluation; Robot kinematics; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1997., Proceedings of the 36th IEEE Conference on

Conference_Location

San Diego, CA

ISSN

0191-2216

Print_ISBN

0-7803-4187-2

Type

conf

DOI

10.1109/CDC.1997.657896

Filename

657896