Dynamic Model based Cross-Coupled Control of Parallel Manipulators

被引：0

作者：

Shang, Weiwei ^{[1
]}

Cong, Shuang ^{[1
]}

Ge, Yuan ^{[1
]}

机构：

[1] Univ Sci & Technol China, Dept Automat, Hefei 230027, Anhui, Peoples R China

来源：

2011 9TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA 2011) | 2011年

基金：

中国国家自然科学基金;

关键词：

parallel manipulator; cross-coupled control; synchronization error; task space; TRACKING CONTROL; IDENTIFICATION; PARAMETERS; DESIGN;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The dynamic model based cross-coupled control is developed to improve the coordination motion relation between multiple kinematic chains in parallel manipulators. According to the mechanism characteristic of the parallel manipulators, two different types of synchronization error of the kinematic chains are defined in the joint space of active joints and in the task space of end-effector, respectively. By using the synchronization error, the cross-coupled control law in the task space is designed based on the dynamic model. The trajectory tracking experiments of an actual planar parallel manipulator are carried out, and then the control performances between the cross-coupled controller and the augmented PD ( APD) controller are compared.

引用

页码：979 / 984

页数：6

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