Friction Compensation in Trajectory Tracking Control for a Parallel Hip Joint Simulator
To evaluate the friction and wear characteristics of hip joint prosthesis biomaterials,a hip joint simulator with a 3SPS + 1PS (P: prismatic joint,S: spherical joint) spatial parallel manipulator as the core module is proposed.To improve the control performance of the parallel hip joint simulator,a friction compensation control method is proposed.First,with the help of Lagrange’s Equations,the dynamic model of the parallel hip joint simulator is established,and a Coulomb + viscous friction model is adopted to describe the friction of the hip joint and the thrust ball bearing.Second,identification experiments are conduced,and parameters of the friction model are estimated.Third,a friction compensation controller is obtained based on computed torque control method,and the friction is served as the feed-forward compensation.As can be observed from the experiment results,the tracking accuracy of the parallel hip joint simulator is improved with the friction compensation.
Parallel hip joint simulator Coulomb+viscous friction Friction compensation Computed torque control
Xianlei Shan Gang Cheng Xihui Chen
School of Mechatronic Engineering, China University of Mining and Technology,Xuzhou 221116, China
国际会议
广州
英文
143-153
2016-12-15（万方平台首次上网日期，不代表论文的发表时间）