期刊
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
卷 25, 期 11, 页码 1137-1147出版社
SAGE PUBLICATIONS LTD
DOI: 10.1177/0278364906072037
关键词
cross-coupled control; parallel manipulators; synchronization; trajectory tracking
类别
This paper presents a cross-coupled control approach to the tracking control of parallel manipulators in asynchronous 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.
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