Acceleration feedback control of a five-bar parallel manipulator

Author

Weiwei, Shang ; Shuang, Cong ; Shilong, Jiang

Author_Institution

Dept. of Autom., Univ. of Sci. & Technol. of China, Hefei, China

fYear

2012

fDate

25-27 July 2012

Firstpage

4439

Lastpage

4444

Abstract

This paper presents a new acceleration feedback controller for a five-bar parallel manipulator without acceleration sensors. The acceleration signals are estimated based on the closed-loop constraint equation of the kinematic chains in the parallel manipulator. The acceleration feedback control law is designed by using the high-gains, and the stability of the closed-loop control system is proved by the Lyapunov method. The advantages of the acceleration feedback controller are validated on a five-bar parallel manipulator platform, and the experimental results are compared with the PD controller without acceleration feedback loop.

Keywords

Lyapunov methods; PD control; acceleration control; closed loop systems; feedback; manipulators; stability; Lyapunov method; PD controller; acceleration feedback control law design; acceleration feedback controller; acceleration feedback loop; acceleration signal estimation; closed-loop constraint equation; closed-loop control system stability; five-bar parallel manipulator platform; kinematic chains; Acceleration; Adaptive control; Joints; Manipulator dynamics; Mathematical model; PD control; PD controller; acceleration feedback controller; five-bar; parallel manipulator;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2012 31st Chinese

Conference_Location

Hefei

ISSN

1934-1768

Print_ISBN

978-1-4673-2581-3

Type

conf

Filename

6390706