Motion Control of Parallel Manipulators Using Acceleration Feedback

Acceleration feedback (AF) is applied to restrain the trajectory disturbances in the motion control of parallel manipulators to increase the trajectory tracking accuracy. A dynamic model is formulated in the task space, and the optimal exciting trajectory is calculated for dynamic identification. The acceleration signals can be estimated without acceleration sensors on the basis of the closed-loop constraint equations. Furthermore, the dynamic acceleration feedback (DAF) controller is developed by introducing the AF into the robust dynamics compensation and trajectory tracking, and the stability of the closed-loop system is proven. The DAF controller is implemented on a planar parallel manipulator platform, and the corresponding experimental results are compared with an existing, robust controller.