Study on Control of Generalized Force Based on Two Parallel Manipulators for Semi-physical Simulation of Docking
Docking mechanism is impacted by the six-degree of freedom (6-DOF) generalized force during capturing and buffering, therefore reliable force feedback control is required11. According to screw theory, the mathematical model of static generalized force was analyzed. In order to reducing the influence of displacement on the generalized force, a force/disp hybrid controller was put forward, which was consisted of two closed loops. The outputs of two closed loops were weighted by two parameters that were adjusted according to fuzzy algorithm. A 10-DOF semi-physical simulation hardware system was founded. Static multi-degree generalized force control experiment was carried on. The force control method proposed in this paper was successfully applied. Result of the experiment shows that the range of steady-state error is limited within 1.5 percent, basically meets the requirement of simulation.
parallel manipulator Hydraulic/electric servo Hybrid control real-time control
Wu Lebin Wang Xuanyin Cheng Jia Li Qiang
The State Key Lab of Fluid Power Transmission and Control, Zhejtang University, Hangzhou 310027, China
国际会议
北戴河
英文
498-501
2007-06-06（万方平台首次上网日期，不代表论文的发表时间）