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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]
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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

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