Dynamic Modelling and Trajectory Tracking of Parallel Manipulator with Flexible Link. (17th September 2013)

• Record Type: Journal Article
• Authors: Zhengsheng, Chen; Minxiu, Kong; Ming, Liu; Wei, You
• Is Part Of: International journal of advanced robotic systems. Volume 10:Number 9(2013)
• Publication Date: 2013-09-17
• Subjects: Dynamic Modelling -- Composite Control -- Two Time Scale -- Flexible Link; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/56765
• Languages: English
• ISSNs: 1729-8806

Abstract

This paper mainly focuses on dynamic modelling and real-time control for a parallel manipulator with flexible link. The Lagrange principle and assumed modes method (AMM) substructure technique is presented to formulate the dynamic modelling of a two-degrees-of-freedom (DOF) parallel manipulator with flexible links. Then, the singular perturbation technique (SPT) is used to decompose the nonlinear dynamic system into slow time-scale and fast time-scale subsystems. Furthermore, the SPT is employed to transform the differential algebraic equations (DAEs) for kinematic constraints into explicit ordinary differential equations (ODEs), which makes real-time control possible. In addition, a novel composite control scheme is presented; the computed torque control is applied for a slow subsystem and the H ∞ technique for the fast subsystem, taking account of the model uncertainty and outside disturbance. The simulation results show the composite control can effectively achieve fast and accurate tracking control.