TY - GEN
T1 - Modal space decoupled controller for hydraulically driven six degree of freedom parallel robot
AU - Ogbobe, Peter O.
AU - ZhengMao, Ye
AU - Hongzhou, Jiang
AU - Yang, Chifu
AU - Junwei, Han
PY - 2010
Y1 - 2010
N2 - This paper proposes a modal space decoupling controller for the highly coupled six degrees of freedom parallel robot. It is based on singular value decomposition to the properties of the joint space inverse mass matrix, using an orthogonal unitary matrix. The method moreover, maps the control and feedback variables from the joint space to the decoupled modal space. Using this method, the highly coupled six-input-six-output dynamics of the parallel robot was transformed into six independent single inputs, single output one degree of freedom hydraulically driven mechanical system. The simulation result shows that the controller improved the trajectory performance more than the conventional PID controller in all DOF and eliminated the dynamic coupling effects.
AB - This paper proposes a modal space decoupling controller for the highly coupled six degrees of freedom parallel robot. It is based on singular value decomposition to the properties of the joint space inverse mass matrix, using an orthogonal unitary matrix. The method moreover, maps the control and feedback variables from the joint space to the decoupled modal space. Using this method, the highly coupled six-input-six-output dynamics of the parallel robot was transformed into six independent single inputs, single output one degree of freedom hydraulically driven mechanical system. The simulation result shows that the controller improved the trajectory performance more than the conventional PID controller in all DOF and eliminated the dynamic coupling effects.
KW - Dynamic coupling effects
KW - Modal space decoupling controller
KW - Parallel robot
KW - Singular value decomposition
KW - Six degrees of freedom
KW - Unitary othorgonal matrix
UR - http://www.scopus.com/inward/record.url?scp=77957806610&partnerID=8YFLogxK
U2 - 10.1109/ICMEE.2010.5558548
DO - 10.1109/ICMEE.2010.5558548
M3 - 会议稿件
AN - SCOPUS:77957806610
SN - 9781424474806
T3 - ICMEE 2010 - 2010 2nd International Conference on Mechanical and Electronics Engineering, Proceedings
SP - V1280-V1284
BT - ICMEE 2010 - 2010 2nd International Conference on Mechanical and Electronics Engineering, Proceedings
T2 - 2010 2nd International Conference on Mechanical and Electronics Engineering, ICMEE 2010
Y2 - 1 August 2010 through 3 August 2010
ER -