Title :
Dynamic Analysis and Optimization of Parallel Manipulator
Author :
Wu Jianxin ; Yang Xiaojun
Author_Institution :
Coll. of Mech. Eng., Inner Mongolia Univ. of Technol., Hohhot, China
Abstract :
Electromechanical coupling dynamic model of parallel manipulator is a kind of a complicated electromechanical system which is multi-input, multi-output, nonlinear and strong coupling. There is not a perfect method to calculate dynamic modeling and simulation of parallel manipulator at present. 6UPS-parallel manipulator dynamic model was set up by Lagrange method; PID position controller was designed; the controller parameters were optimized by inertia weight adaptive particle swarm optimization in the article. It was proved that the modeling of electromechanical coupling dynamic model was right and the manipulator was controlled well by the controller through the simulation result of computer.
Keywords :
MIMO systems; control system synthesis; manipulator dynamics; nonlinear control systems; particle swarm optimisation; position control; three-term control; Lagrange method; PID position controller; complicated electromechanical system; computer simulation; dynamic modeling; electromechanical coupling dynamic model; inertia weight adaptive particle swarm optimization; multi input multi output nonlinear system; parallel manipulator; Adaptive control; Couplings; Design optimization; Electromechanical systems; Lagrangian functions; Manipulator dynamics; Nonlinear dynamical systems; Particle swarm optimization; Programmable control; Three-term control; dynamics; optimization; parallel manipulator;
Conference_Titel :
Artificial Intelligence and Computational Intelligence, 2009. AICI '09. International Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4244-3835-8
Electronic_ISBN :
978-0-7695-3816-7
DOI :
10.1109/AICI.2009.10
