Title :
Decentralized control of a 3-PRS parallel manipulator using a decoupled model
Author :
Tsai, Meng-Shiun ; Yuan, Wei-Hsiang
Author_Institution :
Dept. of Mech. Eng., Nat. Chung Cheng Univ., Chiayi, Taiwan
Abstract :
A novel dynamic model which characterizes the cooperative manipulation of a 3-PRS (Prismatic, Revolute, Spherical) parallel manipulator is developed. The coupling dynamics between the actuated legs is characterized by the constraint forces corresponding to three holonomic constraints. Based on the proposed model, the reaction forces can be effectively computed such that each leg can be considered as an independent subsystem after compensation of the reaction forces. Computer simulations on tracking circular trajectory are performed and a decentralized control algorithm is proposed to demonstrate the effectiveness using the developed model.
Keywords :
decentralised control; force control; legged locomotion; manipulator dynamics; position control; 3-PRS parallel manipulator; actuated leg; circular trajectory tracking; constraint force; cooperative manipulation; coupling dynamics; decentralized control; decoupled model; dynamic model; holonomic constraint; prismatic-revolute-spherical parallel manipulator; reaction force; Distributed control; Dynamics; Heuristic algorithms; Joints; Leg; Manipulator dynamics; Euler-Lagrange; Lagrange multipliers; decentralized control; internal forces; parallel manipulator;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2011 9th World Congress on
Conference_Location :
Taipei
Print_ISBN :
978-1-61284-698-9
DOI :
10.1109/WCICA.2011.5970620
