Title :
Dynamic model based cross-coupled control of parallel manipulators
Author :
Shang, Weiwei ; Cong, Shuang ; Ge, Yuan
Author_Institution :
Dept. of Autom., Univ. of Sci. & Technol. of China, Hefei, China
Abstract :
The dynamic model based cross-coupled control is developed to improve the coordination motion relation between multiple kinematic chains in parallel manipulators. According to the mechanism characteristic of the parallel manipulators, two different types of synchronization error of the kinematic chains are defined in the joint space of active joints and in the task space of end-effector, respectively. By using the synchronization error, the cross-coupled control law in the task space is designed based on the dynamic model. The trajectory tracking experiments of an actual planar parallel manipulator are carried out, and then the control performances between the cross-coupled controller and the augmented PD (APD) controller are compared.
Keywords :
end effectors; manipulator kinematics; motion control; augmented PD controller; coordination motion relation; cross-coupled control; dynamic model; end-effector; multiple kinematic chains; parallel manipulators; planar parallel manipulator; synchronization error; trajectory tracking; Aerospace electronics; Joints; Kinematics; Manipulator dynamics; Synchronization; Trajectory; cross-coupled control; parallel manipulator; synchronization error; task space;
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.2011.5970662
