Abstract
This paper presents a cross-coupled control approach to the tracking control of parallel manipulators in a synchronous manner. Based on the synchronization goal, the position synchronization error is investigated by considering motion synchronization between each actuator joint and its adjacent ones. A decentralized trajectory tracking controller is then developed with feedback of both position and synchronization errors, formed with a combination of feedforward, feedback and a saturation control. It is proven that this tracking controller can asymptotically stabilize both position and synchronization errors of the system. The proposed controller does not require the explicit use of the system dynamic model. Experiments performed on a 3-DOF parallel manipulator demonstrate improved performance with the proposed synchronous control design.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
