Output Decoupling control of 6-DOF Parallel manipulator

Jing Feng He; Wen Jian Xie; Jun Wei Han

Output Decoupling control of 6-DOF Parallel manipulator

Jing Feng He, Wen Jian Xie, Jun Wei Han

Harbin Institute of Technology

科研成果: 期刊稿件 › 文章 › 同行评审

8 引用（Scopus）

摘要

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.

源语言	英语
页（从-至）	395-398
页数	4
期刊	Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology
卷	38
期	3
出版状态	已出版 - 3月 2006
已对外发布	是

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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.",

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N2 - 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.

AB - 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.

KW - 6-DOF

KW - Decoupling control

KW - Euler parameter

KW - Parallel manipulator

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JF - Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology

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Output Decoupling control of 6-DOF Parallel manipulator

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