Acceleration Feedback Control of a Five-bar Parallel Manipulator
This paper presents a new acceleration feedback controller for a five-bar parallel manipulator without acceleration sensors. The acceleration signals are estimated based on the closed-loop constraint equation of the kinematic chains in the parallel manipulator. The acceleration feedback control law is designed by using the high-gains, and the stability of the closed-loop control system is proved by the Lyapunov method. The advantages of the acceleration feedback controller are validated on a five-bar parallel manipulator platform, and the experimental results are compared with the PD controller without acceleration feedback loop.
five-bar parallel manipulator acceleration feedback controller PD controller
SHANG Weiwei CONG Shuang JIANG Shilong
Department of Automation, University of Science and Technology of China, Hefei, Anhui, 230027, P. R. PKU-HKUST Shenzhen-Hong Kong Institution, China
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
4439-4444
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）