Nonlinear computed torque control for a high-speed planar parallel manipulator

被引：107

作者：

Shang, Weiwei ^{[1
]}

Cong, Shuang ^{[1
]}

机构：

[1] Univ Sci & Technol China, Dept Automat, Hefei 230027, Anhui, Peoples R China

来源：

MECHATRONICS | 2009年 / 19卷 / 06期

基金：

中国国家自然科学基金; 中国博士后科学基金;

关键词：

Parallel manipulator; Trajectory tracking; Nonlinear PD; Nonlinear computed torque; ROBOT MANIPULATORS; MECHANISMS; DESIGN;

D O I：

10.1016/j.mechatronics.2009.04.002

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A new computed torque (CT)-type controller termed nonlinear CT (NCT) controller is developed and applied to a high-speed planar parallel manipulator. The NCT controller is designed by replacing the linear PD in the conventional CT controller with the nonlinear PD (NPD) algorithm. The stability of the parallel manipulator system with the NCT controller is proven using the Lyapunov theorem, and the proposed controller is further proven to guarantee asymptotic convergence to zero of both tracking error and error rate. The superiority of the proposed NCT controller is verified through the trajectory tracking experiments of an actual high-speed planar parallel manipulator, and the experiment results are compared with the CT controller. Crown Copyright (C) 2009 Published by Elsevier Ltd. All rights reserved.

引用

页码：987 / 992

页数：6

共 23 条

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