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We present a motion control method for a hydraulic parallel―link servomechanism with three degrees of freedom on a plane. The system controls both the profile―tracing path and the acceleration waveform of the end effector. The concept of acceleration feedback method is introduced to the preview control system particularly to improve the acceleration waveform. The objective of the preview control system is to minimize profile―tracing error and to suppress the noise vibration of the acceleration waveform of the end effector. The performance of the proposed controller is verified through experiments.

nihon furudo pawa shisutemu gakkai rombunshuu

Motion Control of a Hydraulic Parallel-Link Servomechanism with Three Degrees of Freedom on a Plane (2nd Report)- Control of profile trajectory and acceleration waveform using multipreview control-