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Nonlinear Control of Planar Parallel Robots with Redundant Servopneumatic Actuators
Author(s) -
Hahn H.,
Klier W.,
Leimbach K.D.
Publication year - 1999
Publication title -
zamm ‐ journal of applied mathematics and mechanics / zeitschrift für angewandte mathematik und mechanik
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.449
H-Index - 51
eISSN - 1521-4001
pISSN - 0044-2267
DOI - 10.1002/zamm.19990791321
Subject(s) - control theory (sociology) , actuator , robot , decoupling (probability) , orthogonality , planar , nonlinear system , feedback linearization , linearization , computer science , controller (irrigation) , nonlinear control , parallel manipulator , control engineering , control (management) , engineering , mathematics , artificial intelligence , physics , agronomy , geometry , computer graphics (images) , quantum mechanics , biology
In this paper a nonlinear control algorithm of a planar parallel robot with a redundant actuator configuration will be derived, based on exact linearization techniques. This controller achieves apart from standard degree of freedom decoupling and stabilization of the robot dynamics additional desired overconstraint control of the redundant actuators. This result has been achieved by suitably extending the output vector of the robot and by including an orthogonality relation into the controller design. Computer simulations prove the validity of this control concept.