Abstract
A computed torque control algorithm is developed for the end-effector trajectory tracking of parallel manipulators in the presence of joint flexibility at the actuated joints. It is shown that the acceleration level inverse dynamics equations of parallel robots with flexible joints are singular because the control torques do not have an instantaneous effect on the end-effector accelerations due to the elastic media. The proposed control law linearizes the system and achieves asymptotic stability by feedback of positions and velocities of the actuated joints and rotors. Together with the integrators for improving robustness to modeling errors and disturbances, a fifth order position error dynamics is obtained. A three degree of freedom, two legged planar parallel manipulator is simulated with modeling error to show the performance of the method.
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