Abstract
A novel model-based controller for six-degree-offreedom (DOF) parallel manipulator is proposed in this paper, in order to abatement the influence of platform load variety and compel the steady state errors converge to zero. In this paper, 6-DOF parallel manipulator is described as multi-rigidbody systems, the mathematical model of the 6-DOF parallel manipulator including dynamics based on Kane method and kinematics used closed-form solutions and Newton-Raphson method is built in generalized coordinate system. The modelbased controller is presented with the feedback of cylinders positions of platform, desired trajectories and dynamics gravity as the input and the servovalve current as its output. The performance of the control scheme for 6-DOF parallel manipulator is analyzed. Simulation of the parallel manipulator with model-based controller is executed in MATLAB/Simulink, the simulation results indicate the modelbased controller can reduce the influence of load variety of platform and eliminate steady state error of 6-DOF hydraulic driven parallel manipulator.
| Original language | English |
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| Title of host publication | Proceedings - 2009 International Asia Conference on Informatics in Control, Automation, and Robotics, CAR 2009 |
| Pages | 81-84 |
| Number of pages | 4 |
| DOIs | |
| State | Published - 2009 |
| Externally published | Yes |
| Event | 2009 International Asia Conference on Informatics in Control, Automation, and Robotics, CAR 2009 - Bangkok, Thailand Duration: 1 Feb 2009 → 2 Sep 2009 |
Publication series
| Name | Proceedings - 2009 International Asia Conference on Informatics in Control, Automation, and Robotics, CAR 2009 |
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Conference
| Conference | 2009 International Asia Conference on Informatics in Control, Automation, and Robotics, CAR 2009 |
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| Country/Territory | Thailand |
| City | Bangkok |
| Period | 1/02/09 → 2/09/09 |
Keywords
- Dynam -ics
- Kinematics
- Model-based control
- Parallel manipulator