ForcePosition Hybrid Control of 6PUS-UPU Redundant Driven Parallel Manipulator Based on 2-DOF Internal Model Control
Joint Authors
Source
Journal of Control Science and Engineering
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-6, 6 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-12-08
Country of Publication
Egypt
No. of Pages
6
Main Subjects
Electronic engineering
Information Technology and Computer Science
Abstract EN
To improve control performance of parallel manipulator, servo control is optimized according to 2-DOF control with Internal Model Control.
Position loop of the controller is redesigned based on the original current loop and speed loop.
The hybrid force/position control strategy on the basis of cross-coupling is proposed.
With mechatronic cosimulation system, it is proved that the force/position hybrid control on the basis of 2-DOF Internal Model Control has better stability and position precision compared with the traditional PID control.
The control precision and stability of the parallel manipulator are improved effectively in actual experiment.
Two types of compliance operation including peg in hole and surface tracking are realized in 6PUS-UPU parallel manipulator and both have good applicable effect.
American Psychological Association (APA)
Zheng, Kuijing& Wang, Chao. 2014. ForcePosition Hybrid Control of 6PUS-UPU Redundant Driven Parallel Manipulator Based on 2-DOF Internal Model Control. Journal of Control Science and Engineering،Vol. 2014, no. 2014, pp.1-6.
https://search.emarefa.net/detail/BIM-1040215
Modern Language Association (MLA)
Zheng, Kuijing& Wang, Chao. ForcePosition Hybrid Control of 6PUS-UPU Redundant Driven Parallel Manipulator Based on 2-DOF Internal Model Control. Journal of Control Science and Engineering No. 2014 (2014), pp.1-6.
https://search.emarefa.net/detail/BIM-1040215
American Medical Association (AMA)
Zheng, Kuijing& Wang, Chao. ForcePosition Hybrid Control of 6PUS-UPU Redundant Driven Parallel Manipulator Based on 2-DOF Internal Model Control. Journal of Control Science and Engineering. 2014. Vol. 2014, no. 2014, pp.1-6.
https://search.emarefa.net/detail/BIM-1040215
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1040215