Dynamic Modeling and Contouring Control of Parallel Kinematic Machines

摘要：

This study concerns dynamic modeling and contouring control of parallel kinematic machines. The Orthopod, a 3 degree-of-freedom parallel manipulator designed for an engraving machine, is introduced as the control plant. Since the tracking error does not reflect truly its product quality, the contouring error is introduced in dynamic control. In this paper, the dynamic equations of the Orthopod are obtained by Lagrange-DAlembert formulation. The contouring control is implemented by approximating the contouring error as the distance from the actual position to the tangent plane of the desired trajectory at the corresponding desired position. By attaching a moving frame to each point on a desired trajectory, the tracking error is decomposed into tangential and normal parts. For comparison purpose, the augmented PD control and the computed torque control are also carried out. Experimental results show that the contouring control has better performance in contouring accuracy.

关键词： parallel manipulators dynamic modeling contouring control

作者: Yingying Zhong Yunjiang Lou Zhibin Li

作者单位: Division of Control and Mechatronics Engineering,Shenzhen Graduate School,Harbin Institute of Techno Shenzhen Graduate School,Harbin Institute of Technology,Shenzhen,China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Information and Automation(2009年 IEEE信息与自动化国际学术会议)

会议地点: 珠海、澳门

会议语种:英文

页码: 283-288

在线出版日期: 2009-06-22（万方平台首次上网日期，不代表论文的发表时间）