Abstract
6-DOF Parallel manipulator is a nonlinear MIMO system, and its pose outputs are strongly coupled. Using feedback linearization and linear PD control, only translational motions are decoupled and the rotational motions still exist couplings. To fully decouple the outputs of parallel manipulator, a new decoupling controller based on feedback linearization is presented. Using this controller, rotational motions as well as translational motions are decoupled, and the effectiveness of the decoupling controller is validated through simulation.
| Original language | English |
|---|---|
| Pages (from-to) | 395-398 |
| Number of pages | 4 |
| Journal | Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology |
| Volume | 38 |
| Issue number | 3 |
| State | Published - Mar 2006 |
| Externally published | Yes |
Keywords
- 6-DOF
- Decoupling control
- Euler parameter
- Parallel manipulator