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Adaptive computed torque control for a parallel manipulator with redundant actuation

Published online by Cambridge University Press:  21 July 2011

Wei-Wei Shang ,
Shuang Cong  and
Yuan Ge
Wei-Wei Shang
Affiliation:
Department of Automation, University of Science and Technology of China, Hefei 230027, P. R. China
Shuang Cong*
Affiliation:
Department of Automation, University of Science and Technology of China, Hefei 230027, P. R. China
Yuan Ge
Affiliation:
Department of Automation, University of Science and Technology of China, Hefei 230027, P. R. China
*
*Corresponding author. E-mail: wwshang@ustc.edu.cn
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Summary

An adaptive computed torque (ACT) controller in the task space is proposed for the trajectory tracking of a parallel manipulator with redundant actuation. The dynamic model, including the active joint friction, is established in the task space for the parallel manipulator, and the linear parameterization expression with respect to the dynamic and friction parameters is formulated. On the basis of the dynamic model, a new control law, which contains adaptive dynamics compensation, friction compensation, and tracking error elimination terms, is designed. After defining the state-space model of the error system, the parameter adaptation law is derived by using the Lyapunov method, and the convergence of the tracking error and the error rate is proved by using the Barbalat's lemma. The ACT controller is implemented in the trajectory tracking experiments of an actual 2-DOF parallel manipulator with redundant actuation, and the experiment results are compared with the computed torque controller.

Keywords

Adaptive computed torqueParallel manipulatorRedundant actuationTrajectory trackingDynamic model

Information

Type
Articles
Information
Robotica , Volume 30 , Issue 3 , May 2012 , pp. 457 - 466
Copyright
Copyright © Cambridge University Press 2011

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