Synchronous Tracking Control of Parallel Manipulators Using Cross-coupling Approach
作者： D. Sun , R. Lu , J. K. Mills , C. Wang
关键词: Actuator 、 Parallel manipulator 、 Synchronization (computer science) 、 Tracking (particle physics) 、 Feed forward 、 Control engineering 、 Trajectory 、 Control theory 、 Control theory 、 Position (vector) 、 Computer science
摘要: This paper presents a cross-coupled control approach to the tracking control of parallel manipulators in a synchronous manner. Based on the synchronization goal, the position synchronization error is investigated by considering motion synchronization between each actuator joint and its adjacent ones. A decentralized trajectory tracking controller is then developed with feedback of both position and synchronization errors, formed with a combination of feedforward, feedback and a saturation control. It is proven that this tracking …
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