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Dynamics and control of redundantly actuated parallel manipulators
Cheng, H; Yiu, YK; Li, ZX
AbstractIt has been shown that redundant actuation provides an effective means for eliminating singularities of a parallel manipulator, thereby improving its performance such as Cartesian stiffness and homogeneous output forces. Based on this concept, several high-performance parallel manipulator prototypes have been designed. A major difficulty that prevents application of the vast control literature. developed for the serial counterparts to redundantly actuated parallel manipulators is the lack of an efficient dynamical model for real-time control. In this paper, using the Lagrange-D'Alembert formulation, we propose a simple scheme for computing the inverse dynamics of a redundantly actuated parallel manipulator. Based on this approach, four basic control algorithms, a joint-space proportional derivative (PD) control, a PD control in generalized coordinates, an augmented PD control, and a computed-torque control, are formulated. A two-degrees-of-freedom redundantly acutated parallel manipulator designed for a high-speed assembly task is used to verify the simplicity of the proposed approach and to evaluate the performance of the four control algorithms.
KeywordControl D'alembert Formulation Dynamics Paratlel Manipulator Redundant Actuation Singularities
WOS HeadingsScience & Technology ; Technology
Indexed BySCI
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS IDWOS:000188040600008
Citation statistics
Cited Times:212[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Affiliation1.Hong Kong Univ Sci & Technol, Dept Elect & Elect Engn, Kowloon, Hong Kong, Peoples R China
2.Chinese Acad Sci, Inst Automat, Beijing 100080, Peoples R China
Recommended Citation
GB/T 7714
Cheng, H,Yiu, YK,Li, ZX. Dynamics and control of redundantly actuated parallel manipulators[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2003,8(4):483-491.
APA Cheng, H,Yiu, YK,&Li, ZX.(2003).Dynamics and control of redundantly actuated parallel manipulators.IEEE-ASME TRANSACTIONS ON MECHATRONICS,8(4),483-491.
MLA Cheng, H,et al."Dynamics and control of redundantly actuated parallel manipulators".IEEE-ASME TRANSACTIONS ON MECHATRONICS 8.4(2003):483-491.
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