Abstract
With high speed and accuracy the parallel manipulators have wide application in the industry, but there still exist many difficulties in the actual control process because of the time-varying and coupling. Unfortunately, the present-day commercial controlles cannot provide satisfying performance for its single axis linear control only. Therefore, aimed at a novel 2-DOF (Degree of Freedom) parallel manipulator called Diamond 600, a motor-mechanism coupling dynamic model based control scheme employing the computed torque control algorithm are presented in this paper. First, the integrated dynamic coupling model is deduced, according to equivalent torques between the mechanical structure and the PM (Permanent Magnetism) servomotor. Second, computed torque controller is described in detail for the above proposed model. At last, a series of numerical simulations and experiments are carried out to test the effectiveness of the system, and the results verify the favourable tracking ability and robustness.
Highlights
The parallel manipulators have potential advantages in terms of stiffness, accuracy, high speed, and payload over their serial counterparts
Note that the complex motormechanism coupling modeling will cost a lot of time, in addition, control methods influenced the control performance dramatically, so how to design the model based controller is very important to fulfill the performance of mechanisms
In the history of the control method development, it can be divided into classical control algorithm, modern control algorithm and intelligent control algorithm
Summary
The parallel manipulators have potential advantages in terms of stiffness, accuracy, high speed, and payload over their serial counterparts. Many modern and intelligent control techniques have been developed for the nonlinear mechanical system [9], such as adaptive control, fuzzy control, sliding mode control, computed torque control and neural network control. Sliding mode control is a new method but some bounds on system uncertainties must be preestimated Among these algorithms, the motion control, like computed torque control, is a high-performance rotational or translational control of torque and speed [5]. The computed torque control is utilized to linearize the nonlinear dynamic of manipulator [4]. It can provide excellent tracking performance by considering nonlinear compensations with the precise dynamic model [1].
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