Abstract
To improve control performance of parallel manipulator, servo control is optimized according to 2-DOF control with Internal Model Control. Position loop of the controller is redesigned based on the original current loop and speed loop. The hybrid force/position control strategy on the basis of cross-coupling is proposed. With mechatronic cosimulation system, it is proved that the force/position hybrid control on the basis of 2-DOF Internal Model Control has better stability and position precision compared with the traditional PID control. The control precision and stability of the parallel manipulator are improved effectively in actual experiment. Two types of compliance operation including peg in hole and surface tracking are realized in 6PUS-UPU parallel manipulator and both have good applicable effect.
Highlights
Parallel manipulator is becoming increasingly popular in a large number of applications
Dynamic control can meet the demands of high performance more than kinematic control
Classic PID controller cannot meet the different performance requirements simultaneously. 2-DOF control and Internal Model Control are introduced to improve the performance of parallel manipulator [7,8,9,10]
Summary
Parallel manipulator is becoming increasingly popular in a large number of applications. It is a complex system with characteristics of multidegree of freedom, multi-input multioutput, high nonlinearity and strong coupling, and so forth. Control of parallel manipulator is very complex and researches mostly focus on kinematic and dynamic control. 2-DOF control and Internal Model Control are introduced to improve the performance of parallel manipulator [7,8,9,10]. The servo control strategy of 6PUS-UPU parallel manipulator is analyzed. The PID control is combined with 2-DOF and Internal Model Control to redesign servo control loops of the parallel manipulator. The entire model of the 6PUS-UPU parallel manipulator is established, and the mechatronic cosimulation is carried out. The control method is verified by actual prototype experiment
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