Dynamics and control of a novel 3-DOF parallel manipulator with actuation redundancy

被引：41

作者：

Niu X.-M. ^{[1
]}

Gao G.-Q. ^{[1
]}

Liu X.-J. ^{[2
]}

Bao Z.-D. ^{[1
]}

机构：

[1] School of Electrical and Information Engineering, Jiangsu University, Zhenjiang

[2] Department of Mechanical Engineering, Tsinghua University, Beijing

来源：

International Journal of Automation and Computing | 2013年 / 10卷 / 06期

基金：

中国国家自然科学基金;

关键词：

dynamics modelling; Parallel manipulator; redundant actuation; sliding mode control; weighed integral gain reaching law;

D O I：

10.1007/s11633-013-0753-6

中图分类号：

学科分类号：

摘要：

This paper deals with the dynamics and control of a novel 3-degrees-of-freedom (DOF) parallel manipulator with actuation redundancy. According to the kinematics of the redundant manipulator, the inverse dynamic equation is formulated in the task space by using the Lagrangian formalism, and the driving force is optimized by utilizing the minimal 2-norm method. Based on the dynamic model, a synchronized sliding mode control scheme based on contour error is proposed to implement accurate motion tracking control. Additionally, an adaptive method is introduced to approximate the lumped uncertainty of the system and provide a chattering-free control. The simulation results indicate the effectiveness of the proposed approaches and demonstrate the satisfactory tracking performance compared to the conventional controller in the presence of the parameter uncertainties and un-modelled dynamics for the motion control of manipulators. © 2013 Institute of Automation, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg.

引用

页码：552 / 562

页数：10

共 36 条

[1]

Yu J.J., Dai J.S., Bi S.S., Zong G.H., Numeration and type synthesis of 3-DOF orthogonal translational parallel manipulators, Progress in Natural Science, 18, 5, pp. 563-574, (2008)

[2]

Gao Z., Spatial Three Degree-of-Freedom Parallel Mechanisms: Configurations, Performances and Applications, (2009)

[3]

San H.J., Kinematic Analysis and Structural Parameters Design of Novel Five Axes Serial-Parallel Machine Tool, (2009)

[4]

Zhang Y.B., Liu H.Z., Wu X., Kinematics analysis of a novel parallel manipulator, Mechanism and Machine Theory, 44, 9, pp. 1648-1657, (2009)

[5]

Kanaan D., Wenger P., Chablat D., Kinematic analysis of a serial-parallel machine tool: The VERNE machine, Mechanism and Machine Theory, 44, 2, pp. 487-498, (2009)

[6]

Liu G.F., Wu Y.L., Wu X.Z., Kuen Y.Y., Li Z.X., Analysis and control of redundant parallel manipulators, Proceedings of the IEEE International Conference on Robotics and Automation, pp. 3748-3754, (2001)

[7]

Zhao Y.J., Gao F., Dynamic performance comparison of the 8PSS redundant parallel manipulator and its nonredundant counterpart - The 6PSS parallel manipulator, Mechanism and Machine Theory, 44, 5, pp. 991-1008, (2009)

[8]

Ebrahimi I., Carretero J.A., Boudreau R., 3-PRRR redundant planar parallel manipulator: Inverse displacement, workspace and singularity analyses, Mechanism and Machine Theory, 42, 8, pp. 1007-1016, (2007)

[9]

Cheng L., Zhao Y.S., Wang H.G., Dynamic measurement of the positioning accuracy of redundantly actuated parallel machine tool, In Proceedings of the 2nd International Conference on Intelligent Control and Information Processing, IEEE, Shenyang, China, pp. 634-639, (2011)

[10]

Su Y.X., Sun D., Ren L., Mills J.K., Integration of saturated PI synchronous control and PD feedback for control of parallel manipulators, IEEE Transactions on Robotics, 22, 1, pp. 202-207, (2006)

← 1 2 3 4 →