This paper deals with the dynamics and control of a novel 3-degrees-of-freedom （DOF） parallel manipulator with actuation redundancy. According to the kinematics of the redundant manipulator, the inverse dynamic equa...This paper deals with the dynamics and control of a novel 3-degrees-of-freedom （DOF） parallel manipulator with actuation redundancy. According to the kinematics of the redundant manipulator, the inverse dynamic equation is formulated in the task space by using the Lagrangian formalism, and the driving force is optimized by utilizing the minimal 2-norm method. Based on the dynamic model, a synchronized sliding mode control scheme based on contour error is proposed to implement accurate motion tracking control. Additionally, an adaptive method is introduced to approximate the lumped uncertainty of the system and provide a chattering-free control. The simulation results indicate the effectiveness of the proposed approaches and demonstrate the satisfactory tracking performance compared to the conventional controller in the presence of the parameter uncertainties and un-modelled dynamics for the motion control of manipulators.展开更多
基金supported by National Natural Science Foundation of China(Nos.51075222 and E050101)Priority Academic Program Development of Jiangsu Higher Education Institutions(No.6,2011)+1 种基金Zhenjiang Municipal Key Technology R&D Program(No.NY2011013)Postgraduate Research and Innovation Program of Jiangsu Higher Education Institutions(No.1221140046)
文摘This paper deals with the dynamics and control of a novel 3-degrees-of-freedom （DOF） parallel manipulator with actuation redundancy. According to the kinematics of the redundant manipulator, the inverse dynamic equation is formulated in the task space by using the Lagrangian formalism, and the driving force is optimized by utilizing the minimal 2-norm method. Based on the dynamic model, a synchronized sliding mode control scheme based on contour error is proposed to implement accurate motion tracking control. Additionally, an adaptive method is introduced to approximate the lumped uncertainty of the system and provide a chattering-free control. The simulation results indicate the effectiveness of the proposed approaches and demonstrate the satisfactory tracking performance compared to the conventional controller in the presence of the parameter uncertainties and un-modelled dynamics for the motion control of manipulators.
