Active Joint Synchronization Control for a 2-DOF Redundantly Actuated Parallel Manipulator
Active Joint Synchronization Control for a 2-DOF Redundantly Actuated Parallel Manipulator
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DOI：
10.1109/tcst.2008.2000978
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发表时间：
2009-03
期刊：
影响因子：
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通讯作者：
Weiwei Shang;S. Cong;Yaoxin Zhang;Yanyang Liang
中科院分区：
文献类型：
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作者：
Weiwei Shang;S. Cong;Yaoxin Zhang;Yanyang Liang
本文将同步化应用于冗余驱动并联机器人的控制问题。针对二自由度冗余驱动并联机器人，提出了一种新的主动关节同步控制器。在主动关节空间建立了并联机器人的动力学模型，其中内力采用投影法计算，摩擦力采用库仑+粘性摩擦力模型描述。通过定义主动关节的跟踪误差、同步误差、耦合误差和参考轨迹矢量，设计了基于动力学模型的AJ-S控制器。利用Barbalat引理证明了AJ-S控制器能保证跟踪误差和同步误差渐近收敛到零。将AJ-S控制器应用于实际2自由度冗余驱动并联机器人的轨迹跟踪实验中，研究了AJ-S控制器相对于已知跟踪控制器的优越性。
This brief applies the synchronization to solve control problem of redundantly actuated parallel manipulators. With the synchronization method, a new controller termed active joint-synchronization (AJ-S) controller is developed for a 2-degree-of-freedom (DOF) redundantly actuated parallel manipulator. The dynamic model of the parallel manipulator is formulated in the active joint space, in which the internal force is calculated by the projection method and the friction is depicted with the Coulomb + viscous friction model. By defining the tracking error, synchronization error, coupled error, and the referenced trajectory vector of the active joints, the AJ-S controller based on the dynamic model is designed. And the AJ-S controller is proven to guarantee asymptotic convergence to zero of both tracking and synchronization errors by the Barbalat's lemma. The AJ-S controller is implemented in the trajectory tracking experiments of an actual 2-DOF redundantly actuated parallel manipulator, and the superiority of the AJ-S controller over the well-known tracking controller is studied.