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Modeling, Identification and Control of a Redundant Planar 2-DOF Parallel Manipulator  

Zhang, Yao-Xin (Department of Automation, University of Science and Technology of China)
Cong, Shuang (Department of Automation, University of Science and Technology of China)
Shang, Wei-Wei (Department of Automation, University of Science and Technology of China)
Li, Ze-Xiang (Department of Electrical and Electronic Engineering, Hong Kong University of Science and Technology)
Jiang, Shi-Long (Googol Technology(Shenzhen) LTD)
Publication Information
International Journal of Control, Automation, and Systems / v.5, no.5, 2007 , pp. 559-569 More about this Journal
Abstract
In this paper, the dynamic controller design problem of a redundant planar 2-dof parallel manipulator is studied. Using the Euler-Lagrange equation, we formulate the dynamic model of the parallel manipulator in the joint space and propose an augmented PD controller with forward dynamic compensation for the parallel manipulator. By formulating the controller in the joint space, we eliminate the complex computation of the Jacobian matrix of joint angles with end-effector coordinate. So with less computation, our controller is easier to implement, and a shorter sampling period can be achieved, which makes the controller more suitable for high-speed motion control. Furthermore, with the combination of static friction model and viscous friction model, the active joint friction of the parallel manipulator is studied and compensated in the controller. Based on the dynamic parameters of the parallel manipulator evaluated by direct measurement and identification, motion control experiments are implemented. With the experiments, the validity of the dynamic model is proved and the performance of the controller is evaluated. Experiment results show that, with forward dynamic compensation, the augmented PD controller can improve the tracking performance of the parallel manipulator over the simple PD controller.
Keywords
Augmented PD control; identification; parallel manipulator; PD control;
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Times Cited By Web Of Science : 16  (Related Records In Web of Science)
Times Cited By SCOPUS : 17
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