Coordination control of parallel manipulators with actuation redundancy

A coordination controller is proposed to improve the coordination relation of multiple kinematic chains in the parallel manipulators with actuation redundancy. The coordination errors are defined using the tracking errors of the neighboring active joints, and the coordination controller is designed in the task space. And the coordination controller is proved to guarantee asymptotic convergence to zero of both tracking and coordination errors by the Barbalat´s Lemma. The trajectory tracking experiments of an actual parallel manipulator with actuation redundancy are carried out, and then the control performances between the coordination controller and the augmented PD (APD) controller are compared.