Open AccessZeroing dynamics based motion control scheme for parallel manipulators
Author(s) -
Zhang Yug,
He Liangyu,
Li Shuai,
Chen Dechao,
Ding Yaqiong
Publication year - 2017
Publication title -
electronics letters
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.375
H-Index - 146
ISSN - 1350-911X
DOI - 10.1049/el.2016.2307
Subject(s) - serial manipulator , scheme (mathematics) , control theory (sociology) , path (computing) , dynamics (music) , motion control , stewart platform , tracking (education) , computer science , motion (physics) , controller (irrigation) , parallel manipulator , control (management) , control engineering , mathematics , kinematics , artificial intelligence , engineering , robot , mathematical analysis , physics , classical mechanics , acoustics , psychology , pedagogy , agronomy , biology , programming language
Zeroing dynamics (ZD), as a powerful method proposed for time‐varying problems solving, has found successful applications in motion control of serial manipulators. Compared with serial manipulators, parallel manipulators possess some attractive advantages such as high carrying capacity and high operation accuracy. However, the inherent differences between parallel and serial manipulators set great difficulties on the applications of ZD to the control of parallel manipulators. Making progress along this direction, the first ZD based motion controller of parallel manipulators is proposed and the design procedure of the ZD based scheme is presented. As a typical application, the proposed scheme is utilised to control a Stewart platform for tracking a quatrefoil‐shaped path, which illustrates the effectiveness of the ZD based scheme.