SYNCHRONIZATION CONTROL OF A PARALLEL MANIPULATOR WITH REDUNDANT ACTUATION IN THE TASK SPACE

被引：9

作者：

Shang, Weiwei ^{[1
]}

Cong, Shuang ^{[1
]}

Jiang, Shilong ^{[2
]}

机构：

[1] Univ Sci & Technol China, Dept Automat, Hefei, Peoples R China

[2] PKU HKUST Shenzhen Hong Kong Inst, Shenzhen, Peoples R China

来源：

INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION | 2011年 / 26卷 / 04期

基金：

中国国家自然科学基金;

关键词：

Parallel manipulator; redundant actuation; synchronization control; task space; contour error; FEEDBACK;

D O I：

10.2316/Journal.206.2011.4.206-3519

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

To improve the coordination relations between multiple kinematic chains of the parallel manipulator with redundant actuation, a new synchronization controller is proposed in the task space. The synchronization error is defined directly in the task space with the tracking trajectory of the end-effector, and then the synchronization control law is designed with the cross-coupled control method. The stability of the parallel manipulator system and the convergence of the tracking error and synchronization error are proved by using the Barbalat's Lemma. The trajectory tracking experiments are carried out on an actual parallel manipulator, and then the control performances between the synchronization controller and the augmented PD (APD) controller are compared.

引用

页码：432 / 440

页数：9

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