Hostname: page-component-cd9895bd7-lnqnp Total loading time: 0 Render date: 2024-12-25T08:45:01.286Z Has data issue: false hasContentIssue false
  • English
  • Français

Motion control of the 2-DOF parallel manipulator of a hybrid machine tool

Published online by Cambridge University Press:  15 December 2009

Jun Wu  and
Liping Wang
Jun Wu*
Affiliation:
Institute of Manufacturing Engineering, Department of Precision Instruments, Tsinghua University, Beijing 100084, P. R. China
Liping Wang
Affiliation:
Institute of Manufacturing Engineering, Department of Precision Instruments, Tsinghua University, Beijing 100084, P. R. China
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

This paper focuses on the motion control of the two-degree-of-freedom (2-DOF) planar parallel manipulator of a hybrid machine tool. On the basis of the performance analysis of the kinematic control system, a parameter-tuning method is proposed for regulating the control parameters. To improve the response performance, the proportional-derivative control and a low-pass filter are introduced to the position-loop controller. The simulation shows that the response speed is increased and that the tracking error is reduced. Furthermore, the effect of load torque on the contour error is investigated, and the dynamic feedforward control is used to control the parallel manipulator. On the basis of the principle of dual-channel compensation, the feedforward compensator is designed. The simulations, that the moving platform moves along a linear trajectory and circular trajectory, show that the dynamic feedforward control can reduce the effect of load torque on contour error.

Keywords

Parallel manipulatorParameter tuningDynamic feedforward control
Type
Article
Information
Robotica , Volume 28 , Issue 6 , October 2010 , pp. 861 - 868
Copyright
Copyright © Cambridge University Press 2009

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Pritschow, G., “Parallel kinematic machines (PKM) – limitations and new solutions,” CIRP Ann. Manufact. Technol. 49 (1), 275–280 (2000).CrossRefGoogle Scholar
2.Wu, J., Wang, J. S., Wang, L. P. and Li, T. M., “Dynamic model and force control of the redundantly actuated parallel manipulator of a 5-DOF hybrid machine tool,” Robotica 27 (1), 59–65 (2009).CrossRefGoogle Scholar
3.Li, Y. and Xu, Q., “Kinematics and inverse dynamics analysis for a general 3-PRS parallel mechanism,” Robotica 23 (2), 219–229 (2005).CrossRefGoogle Scholar
4.Li, Y. and Xu, Q., “Kinematic analysis and design of a new 3-DOF translational parallel manipulator,” ASME J. Mech. Des. 128 (4), 729–737 (2006).CrossRefGoogle Scholar
5.Huynh, P., Arai, T., Koyachi, N. and Sendai, T., “Optimal Velocity Based Control of a Parallel Manipulator with Fixed Linear Actuators,” Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems, Grenoble, France (Sept. 7–11, 1998) pp. 1125–1130.Google Scholar
6.Kang, B., Chu, J. and Mills, J. K., “Design of High Speed Planar Parallel Manipulator and Multiple Simultaneous Specification Control,” Proceedings of the 2001 IEEE International Conference on Robotics and Automation, Seoul, Korea (May 21–26, 2001) pp. 2723–2728.Google Scholar
7.Pritschow, G., “Self-tuning controller for digitally controlled electromechanical servo drives in machine tools,” CIRP Ann. Manufact. Technol. 48 (1), 307–312 (1999).CrossRefGoogle Scholar
8.Su, Y. X., “Nonlinear PID control of a six-DOF parallel manipulator,” IEEE Proc. Control Theory Appl. 151 (1), 95–102 (2004).CrossRefGoogle Scholar
9.Liu, G. F., Wu, Y. L., Wu, X. Z., Kuen, Y. Y. and Li, Z. X., “Analysis and Control of Redundant Parallel Manipulators,” IEEE International Conference on Robotics and Automation, Seoul, Korea (May 21–26, 2001) pp. 3748–3754.Google Scholar
10.Zhou, Q., Zhang, H. and Duan, G., “Control of FAST Feed Fine-Tuning Test Platform,” The 11th World Congress in Mechanism and Machine Science, Tianjin, China (April 1–4, 2004) pp. 1772–1776.Google Scholar
11.Wu, J., Wang, J. S., Wang, L. P. and Li, T. M., “Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy,” Mech. Mach. Theory 44 (4), 835–849 (2009).CrossRefGoogle Scholar
12.Grotjahn, M. and Heimann, B., “Model-based feed-forward control in industrial robotics,” Int. J. Rob. Res. 21 (1), 99–114 (2002).CrossRefGoogle Scholar
13.Wu, J., Wang, J., Li, T. and Wang, L., “Dynamic analysis of the 2-DOF planar parallel manipulator of a heavy duty hybrid machine tool,” Int. J. Adv. Manufact. Technol. 34 (3–4), 413–420 (2007).CrossRefGoogle Scholar