Robust Decentralized Joint Control of a 3-PRS Parallel Mechanism Based on a Simplified Model

摘要：

In this paper, a simplified dynamic model is proposed for a 3-PRS (Prismatic, Revolute, Spherical) parallel mechanism. The dynamic model is formulated in the joint space where three holonomic constraint equations are constructed to specify the coupling relationships between the actuated legs. Since the symbolic expressions of the dynamics for the moving platform are complicated in the joint space, they are simplified and only the gravity force is considered. Based on the simplified model, a robust decentralized joint control algorithm is proposed where a disturbance observer is embedded in the control loop to compensate the disturbance resulted from the simplification. Computer simulation is performed on a circular cutting trajectory to investigate the effectiveness of the proposed simplified dynamic model.

关键词： parallel manipulator holonomic constraints decentralized control

作者: Meng-Shiun Tsai Wei-Hsiang Yuan

作者单位: the Associate Professor of National Chung Cheng University,Taiwan,R.O.C. with the National Chung Cheng University,Taiwan,R.O.C.He is now the Ph.D.Candidate in the Department

会议类型: 国际会议

会议名称: 2011 China Control and Decision Conference(2011中国控制与决策会议 CCDC)

会议地点: 四川绵阳

会议语种:英文

页码: 4031-4035

在线出版日期: 2011-05-23（万方平台首次上网日期，不代表论文的发表时间）