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A novel iteration-based controller for hybrid machine systems fortrajectory tracking at the end-effector level

Published online by Cambridge University Press:  27 April 2010

Z. H. Chen ,
Y. Wang ,
P. Ouyang ,
J. Huang  and
W. J. Zhang
Z. H. Chen
Affiliation:
College of Mechanical and Power Engineering, East China University of Sciences and Technology, Meilong Road 130, Shanghai 200237, P.R. China Department of Engineering Machinery, Shandong Jiaotong University, 5 Jiaoxiao Road, Jinan, Shandong 250023, P.R. China
Y. Wang
Affiliation:
School of Mechanical Engineering, Shandong University, 73 Jingshi Road, Jinan 250061, P.R. China
P. Ouyang
Affiliation:
Department of Airspace Engineering, Ryerson University, Centre for Computing and Engineering, ENG170, 350 Victoria Street, Toronto, Ontario M5B 2K3, Canada
J. Huang
Affiliation:
College of Mechanical and Power Engineering, East China University of Sciences and Technology, Meilong Road 130, Shanghai 200237, P.R. China Department of Mechanical Engineering, University of Saskatchewan, 57 Campus drive, Saskatoon, Saskatchewan S7N 5A9, Canada
W. J. Zhang*
Affiliation:
College of Mechanical and Power Engineering, East China University of Sciences and Technology, Meilong Road 130, Shanghai 200237, P.R. China Department of Mechanical Engineering, University of Saskatchewan, 57 Campus drive, Saskatoon, Saskatchewan S7N 5A9, Canada
*
*Corresponding author. E-mail: Chris.Zhang@Usask.Ca
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Summary

Hybrid actuation systems consist of two types of motors: constant velocity (CV)motor and servo (SV) motor. The CV motor can produce a large power but with apoor task flexibility. On the other hand, the SV motor has an excellent taskflexibility but with a small power capacity. Combination of these two types ofmotors into a coherent driver architecture for machine systems is extremelypromising, because they complement each other. Existing studies on the hybridactuation or machine system usually employ two servo motors, one of whichsubstitutes the CV motor. This treatment compromises the control accuracy forthe trajectory tracking at the end-effector. This paper presents a study on anew controller for the hybrid machine that considers one SV motor and one CVmotor and for trajectory tracking at the end-effector level. A comparison ofthis new controller with the controller we developed previously is provided. Afive-bar mechanism with two degrees of freedom is employed for the illustrationpurpose.

Keywords

Hybrid actuation systemFive-bar mechanismControlTrajectory tracking

Information

Type
Article
Information
Robotica , Volume 29 , Issue 2 , March 2011 , pp. 317 - 324
Copyright
Copyright © Cambridge University Press 2010

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