Trajectory Tracking Control Study of a New Parallel Mechanism with Redundant Actuation
Joint Authors
Zhang, Haiqiang
Fang, Hairong
Zhang, Dan
Luo, Xueling
Zou, Qi
Source
International Journal of Aerospace Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-01-11
Country of Publication
Egypt
No. of Pages
14
Abstract EN
Parallel mechanisms with redundant actuation are attracting numerous scholars’ research interest due to their inherent advantages.
In this paper, an efficient trajectory tracking control scheme for the new redundantly actuated parallel mechanism by integrating force/position hybrid control with the combination of inertia feed-forward control and back propagation (BP) neural network PID control is proposed.
The dynamic models including the joint space and task space are formulated explicitly in efficient and compact form by means of the principle of virtual work and d’Alembert formulations.
The force/position hybrid control is implemented to perform trajectory tracking and optimize the driving force configuration in MATLAB/Simulink environment, before being applied to an actual parallel mechanism.
The illustrative simulation results demonstrate that the force/position hybrid control scheme is available to provide good trajectory tracking performance.
Simultaneously, the feasibility of the proposed control scheme is verified by comparison analysis with the aforementioned conventional control method.
American Psychological Association (APA)
Zhang, Haiqiang& Fang, Hairong& Zhang, Dan& Zou, Qi& Luo, Xueling. 2020. Trajectory Tracking Control Study of a New Parallel Mechanism with Redundant Actuation. International Journal of Aerospace Engineering،Vol. 2020, no. 2020, pp.1-14.
https://search.emarefa.net/detail/BIM-1168167
Modern Language Association (MLA)
Zhang, Haiqiang…[et al.]. Trajectory Tracking Control Study of a New Parallel Mechanism with Redundant Actuation. International Journal of Aerospace Engineering No. 2020 (2020), pp.1-14.
https://search.emarefa.net/detail/BIM-1168167
American Medical Association (AMA)
Zhang, Haiqiang& Fang, Hairong& Zhang, Dan& Zou, Qi& Luo, Xueling. Trajectory Tracking Control Study of a New Parallel Mechanism with Redundant Actuation. International Journal of Aerospace Engineering. 2020. Vol. 2020, no. 2020, pp.1-14.
https://search.emarefa.net/detail/BIM-1168167
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1168167