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Dynamics and control of redundantly actuated parallel manipulators
Cheng, H; Yiu, YK; Li, ZX
2003-12-01
发表期刊IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷号8期号:4页码:483-491
文章类型Article
摘要It 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.
关键词Control D'alembert Formulation Dynamics Paratlel Manipulator Redundant Actuation Singularities
WOS标题词Science & Technology ; Technology
收录类别SCI
语种英语
WOS研究方向Automation & Control Systems ; Engineering
WOS类目Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS记录号WOS:000188040600008
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文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/9869
专题09年以前成果
作者单位1.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
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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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