Research on actuator effort and energy consumption of a parallel manipulator based on input shaping combined with PD

The principle and characteristics of the input shaping combined with PD control system are studied in this paper. Firstly, the structure and parameters of the main parts of the 3-DOF parallel manipulator are introduced. Secondly, the response, actuator effort and energy consumption of input shaping combined with PD control system are analyzed, followed by the characterization of its actuator effort and the mechanism of energy consumption. Finally, the response, the actuator effort and the energy consumption of the control strategy are analyzed by numerical simulation. The performance of the control strategy is compared with that of the PD control strategy. The performance under different feedback gains is studied as well.