Abstract
SUMMARYIn this paper, an online self-gain tuning method of a PD computed torque control (CTC) is used for a 3UPS-PS parallel robot. The CTC is applied to the 3UPS-PS parallel robot based on the robot dynamic model which is established via a virtual work principle. The control system of the robot comprises a nonlinear feed-forward loop and a PD control feedback loop. To implement real-time online self-gain tuning, an adjustment method based on the genetic algorithm (GA) is proposed. Compared with the traditional CTC, the simulation results indicate that the control algorithm proposed in this study can not only enhance the anti-interference ability of the system but also improve the trajectory tracking speed and the accuracy of the 3UPS-PS parallel robot.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Reference25 articles.
1. Dynamic model based nonlinear tracking control of a planar parallel manipulator
2. Dimensional synthesis of Ahut-Delta parallel mechanism based on improved chaotic particle swarm algorithm;Zhang;Trans. Chin. Soc. Agric. Mach.,2015
3. Computed torque control-based composite nonlinear feedback controller for robot manipulators with bounded torques
4. Dynamic modeling and inverse optimal PID with feed-forward control in H∞, framework for a novel 3D pantograph manipulator;Lashin;Int. J. Control,2018
5. Computed-torque control for a moving flight simulator platform;Wu;J. Tsinghua Univ. (Sci. Tech.),2006
Cited by
5 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献