Title :
Linear control of a spherical parallel manipulator
Author :
Jinfeng, Huang ; Zhijie, Yang ; Zhanxian, Li ; Qizhi, Ding
Author_Institution :
Coll. of Mech. Eng., Hebei United Univ., Tangshan, China
Abstract :
The linear control method was proposed to control a parallel manipulator with certain motion trajectory of shift operation. Through optimizing the distribution of mechanism, parallel manipulator was controlled with existing commercial controllers. Motion precision of parallel manipulator was improved to the uttermost by parameter optimization. In addition, the mechanism is affected slightly by changes of structural parameters and is calibration-free.
Keywords :
manipulators; motion control; linear control method; parameter optimization; shift operation motion trajectory; spherical parallel manipulator; Aerospace electronics; Educational institutions; Interpolation; Joints; Manipulators; Trajectory; linear control; shift manipulator; spherical parallel mechanism;
Conference_Titel :
Electronics, Communications and Control (ICECC), 2011 International Conference on
Conference_Location :
Zhejiang
Print_ISBN :
978-1-4577-0320-1
DOI :
10.1109/ICECC.2011.6067570
