Hybrid Position/force Control of 2-DOF Redundantly Actuated Parallel Manipulator

摘要：

According to the requirements of an underwater simulation device, a 2-DOF parallel manipulator with redundant actuation is presented. Redundant actuation provides an effective means for improving performance of parallel manipulator such as Cartesian stiffness, homogeneous output forces. Considering the distribution of the force on the actuated joints, a hybrid position/force control is proposed for the manipulator. The effectiveness of the proposed control approach is demonstrated by experiment. The result of experiment shows that the output forces of hydrulic cylinders are optimized, and the steady-error is below 0.1 mm. When the moving platform makes a circular motion with 0.1 Hz, the amplitude error and phase error are 0.07％ and 0.844° respectively.

关键词： Parallel manipulator redundant actuation hybrid position/force control

作者: Yang Gang Fu Xiaoyun Xian Linbo Li Baoren

作者单位: FESTO Pneumatic Center, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, China

会议类型: 国际会议

会议名称: The Fifth International Symposium on Fluid Power Transmission and Control(ISFP2007)（2007年国际流体动力传输与控制学术会议）

会议地点: 北戴河

会议语种:英文

页码: 636-639

在线出版日期: 2007-06-06（万方平台首次上网日期，不代表论文的发表时间）