Analysis of coupling effects on hydraulic controlled 6 degrees of freedom parallel manipulator using joint space inverse mass matrix

Ogbobe Peter, Jiang Hongzhou, He Jingfeng, Yang Chifu, Han Junwei

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

7 Scopus citations

Abstract

This paper presents an analysis of the coupling effects between degrees of freedom of a hydraulic controlled six DOF parallel manipulator. Based on the singular value decomposition to the properties of its joint space inverse mass matrix, the method is put forward to analyze coupling effects between degrees of freedom using a transformation matrix, the product of transposed Jacobian matrix and an orthogonal unitary matrix, of which each element represents decoupled modal space coordinates with respect to physical task space frame. The simulation results in frequency domain prove the theoretical analysis right. The analysis will provide useful information to mechanism and controller designer, to asses from concept the coupling effects between DOF in respect of the requirement for a particular application and also for the study on decoupling control strategies.

Original languageEnglish
Title of host publication2009 2nd International Conference on Intelligent Computing Technology and Automation, ICICTA 2009
Pages845-848
Number of pages4
DOIs
StatePublished - 2009
Externally publishedYes
Event2009 2nd International Conference on Intelligent Computing Technology and Automation, ICICTA 2009 - Changsha, Hunan, China
Duration: 10 Oct 200911 Oct 2009

Publication series

Name2009 2nd International Conference on Intelligent Computing Technology and Automation, ICICTA 2009
Volume2

Conference

Conference2009 2nd International Conference on Intelligent Computing Technology and Automation, ICICTA 2009
Country/TerritoryChina
CityChangsha, Hunan
Period10/10/0911/10/09

Keywords

  • 6 degrees of freedom
  • Coupling effects
  • Othorgonal unitary matrix
  • Parallel manipulator
  • Singular value decomposition

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