Singular value decomposition control of electro-hydraulically driven parallel robot

Chifu Yang, Qitao Huang, Junwei Han

科研成果: 书/报告/会议事项章节会议稿件同行评审

摘要

This paper presented a novel control scheme for electro-hydraulically driven parallel robot, in order to improve control performance by eliminating the effect of system coupling in controller. The mathematical model of the electro-hydraulic parallel robot is formulated, including mechanical system and electro-hydraulic system, using Kane method and hydromechanics principle. The decoupled space is exploited for electro-hydraulic parallel robot by using singular value decomposition (SVD) approach. In the decoupled space, a simple but effective controller is developed with only actuator position as its feedback. Theoretical analysis and numerical simulation results show that the proposed control greatly overcomes the drawbacks of dynamic coupling in the workspace of parallel robot and exhibits excellent control performance, especially tracking performance.

源语言英语
主期刊名Frontiers of Manufacturing and Design Science II
90-94
页数5
DOI
出版状态已出版 - 2012
已对外发布
活动2nd International Conference on Frontiers of Manufacturing and Design Science, ICFMD 2011 - Taichung, 中国台湾
期限: 11 12月 201113 12月 2011

出版系列

姓名Applied Mechanics and Materials
121-126
ISSN(印刷版)1660-9336
ISSN(电子版)1662-7482

会议

会议2nd International Conference on Frontiers of Manufacturing and Design Science, ICFMD 2011
国家/地区中国台湾
Taichung
时期11/12/1113/12/11

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