TY - GEN
T1 - Nonlinear PD synchronized control for parallel manipulators
AU - Su, Y. X.
AU - Sun, Dong
AU - Ren, Lu
AU - Wang, Xiaoyun
AU - Mills, James K.
PY - 2005
Y1 - 2005
N2 - A simple synchronized control algorithm is proposed, by incorporating cross-coupling technology into a common PD control architecture, for control of parallel manipulators. A saturated proportional (S-P) control and a linear proportional derivative (PD) control plus gravity force compensation is implemented for synchronization and position control, respectively. The proposed control law is easy to implement and is able to stabilize motion of each actuator while synchronizing all actuators' motions, so that differential position errors amongst actuators converge to zero. It is shown that the proposed method guarantees global asymptotical stability of the closed-loop system. Experiments performed on a three-DOF parallel manipulator demonstrate the effectiveness of the proposed approach. ©2005 IEEE.
AB - A simple synchronized control algorithm is proposed, by incorporating cross-coupling technology into a common PD control architecture, for control of parallel manipulators. A saturated proportional (S-P) control and a linear proportional derivative (PD) control plus gravity force compensation is implemented for synchronization and position control, respectively. The proposed control law is easy to implement and is able to stabilize motion of each actuator while synchronizing all actuators' motions, so that differential position errors amongst actuators converge to zero. It is shown that the proposed method guarantees global asymptotical stability of the closed-loop system. Experiments performed on a three-DOF parallel manipulator demonstrate the effectiveness of the proposed approach. ©2005 IEEE.
KW - Cross-coupling control
KW - Parallel manipulators
KW - PD control
KW - Saturated P control
KW - Synchronization
UR - http://www.scopus.com/inward/record.url?scp=33846133734&partnerID=8YFLogxK
UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-33846133734&origin=recordpage
U2 - 10.1109/ROBOT.2005.1570307
DO - 10.1109/ROBOT.2005.1570307
M3 - RGC 32 - Refereed conference paper (with host publication)
SN - 078038914
SN - 9780780389144
VL - 2005
SP - 1374
EP - 1379
BT - Proceedings - IEEE International Conference on Robotics and Automation
T2 - 2005 IEEE International Conference on Robotics and Automation
Y2 - 18 April 2005 through 22 April 2005
ER -