Trajectory Tracking Control of Parallel Manipulator Based on Udwadia-Kalaba Approach
Joint Authors
Li, Chenming
Zhao, Han
Zhen, Shengchao
Huang, Kang
Sun, Hao
Shao, Ke
Deng, Bin
Source
Mathematical Problems in Engineering
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-12-14
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
There have been many approaches for achieving the trajectory tracking control of parallel manipulator.
However, these approaches are complex for calculating Lagrangian multipliers.
In this paper, unlike the former approaches, a new approach of trajectory tracking control which is based on Udwadia-Kalaba approach is presented.
Using this methodology, we can obtain a concise and explicit equation of motion and consider holonomic and nonholonomic constraint whether it is ideal or nonideal simultaneously.
The most important difference is that we divide constraints into structural constraints and performance constraints in this paper.
Structural constraints are used to establish dynamic model without regard for trajectory control.
And performance constraints are used to represent the desired trajectory.
For the parallel manipulator, a nonlinear dynamics system, its constraint forces are obtained by second-order constraints.
And the numerical simulation in MATLAB shows the parallel manipulator’s movement meets the requirement; tracking trajectory is exact and perfect.
Through this paper, we can see that the method can simplify calculation availably.
American Psychological Association (APA)
Li, Chenming& Zhao, Han& Zhen, Shengchao& Huang, Kang& Sun, Hao& Shao, Ke…[et al.]. 2017. Trajectory Tracking Control of Parallel Manipulator Based on Udwadia-Kalaba Approach. Mathematical Problems in Engineering،Vol. 2017, no. 2017, pp.1-12.
https://search.emarefa.net/detail/BIM-1192539
Modern Language Association (MLA)
Li, Chenming…[et al.]. Trajectory Tracking Control of Parallel Manipulator Based on Udwadia-Kalaba Approach. Mathematical Problems in Engineering No. 2017 (2017), pp.1-12.
https://search.emarefa.net/detail/BIM-1192539
American Medical Association (AMA)
Li, Chenming& Zhao, Han& Zhen, Shengchao& Huang, Kang& Sun, Hao& Shao, Ke…[et al.]. Trajectory Tracking Control of Parallel Manipulator Based on Udwadia-Kalaba Approach. Mathematical Problems in Engineering. 2017. Vol. 2017, no. 2017, pp.1-12.
https://search.emarefa.net/detail/BIM-1192539
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1192539