Title :
Application of MRAC to a 6-dof parallel machine tool
Author :
Li, Cheng-Gang ; Ding, Hong-Sheng ; Wu, Ping-Dong
Author_Institution :
Sch. of Mech. & Vehicle Eng., Beijing Inst. of Technol., China
Abstract :
This paper presents an analysis of the kinematics and dynamics for a 6-dof parallel machine tool. The synthetical force on every leg during the motion process can be calculated according to the dynamics equation. A model reference adaptive control (MRAC) scheme is utilized in the control of the machine tool, and Popov hyperstable theory is utilized as the adaptive control law. The simulation results indicate the feasibility and robustness against external disturbances of the system.
Keywords :
Popov criterion; dynamics; kinematics; machine tools; model reference adaptive control systems; nonlinear control systems; 6-degree-of-freedom parallel machine tool; Popov hyperstable theory; dynamics; kinematics; model reference adaptive control; nonlinear system; synthetical force; Acceleration; Adaptive control; Equations; Error correction; Kinematics; Leg; Machine tools; Parallel machines; Programmable control; Vehicle dynamics;
Conference_Titel :
Machine Learning and Cybernetics, 2003 International Conference on
Print_ISBN :
0-7803-8131-9
DOI :
10.1109/ICMLC.2003.1259864
