A Model Free Synchronization Approach to Controls of Parallel Manipulators

Author

Su, Y.X. ; Sun, Dong

Author_Institution

Dept. of Manuf. Eng. & Eng. Manage., Hong Kong City Univ., Kowloon

fYear

2004

fDate

22-26 Aug. 2004

Firstpage

523

Lastpage

528

Abstract

A simple synchronized approach to controls of parallel manipulators is proposed, by incorporating a cross-coupling saturated nonlinear proportional-integral (PI) control into a common joint-space linear proportional-derivative (PD) control architecture, where the system stability can be guaranteed. The proposed control strategy does not require any model parameters and is able to stabilize motion of each actuator while synchronizing all actuators´ motions, so that differential position errors amongst actuators converge to zero. Experiments conducted on a three-DOF spatial parallel manipulator system demonstrate the effectiveness of the developed approach

Keywords

PD control; PI control; manipulators; nonlinear control systems; stability; synchronisation; PD control; PI control; common joint-space linear proportional-derivative control; cross-coupling saturated nonlinear proportional-integral control; model-free synchronization; parallel manipulator control; Actuators; Control systems; Error correction; Manipulator dynamics; Motion control; Nonlinear control systems; PD control; Pi control; Proportional control; Stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on

Conference_Location

Shenyang

Print_ISBN

0-7803-8614-8

Type

conf

DOI

10.1109/ROBIO.2004.1521834

Filename

1521834