Convex synchronized control for a 3-DOF planar parallel manipulator

摘要: In this paper, in order to improve tracking accuracy and satisfy multiple closed-loop performance specifications simultaneously during high-speed, high-acceleration trajectory for a 3 degree-of-freedom (DOF) planar parallel manipulator, we propose new control approach, termed convex synchronized (C-S) control. The C-S is base on the so-called combination method To implement scheme, feedback signal, synchronization error, employed, which represents degree of coordination active joints manipulator based kinematics thus improved. On other hand, utilizes property required specifications. Through combining linear controllers, sample each satisfies at least one specification, controller algebraically calculated, all simultaneously. Compared with traditional trial-and-error method, more straightforward efficient. Hence, possessing advantages proposed can both (MSS). Experiments conducted 3-DOF P-R-R type demonstrate above claims