A Survey on Control of Parallel Manipulator-Reference-Cited by-同舟云学术

A Survey on Control of Parallel Manipulator

Published:2007-05 Issue: Volume:339 Page:307-313
ISSN:1662-9795
Container-title:Key Engineering Materials
language:
Short-container-title:KEM

Author:

He J.F.¹,Jiang H.Z.¹,Cong D.C.¹,Ye Zheng Mao¹,Han Jun Wei¹

Affiliation:

1. Harbin Institute of Technology

Abstract

Based on extensive study on literatures of control of parallel manipulators and serial manipulators, control strategies such as computed torque control, PD+ control, PD with feedforward compensation, nonlinear adaptive control are classified into two categories: model-based control and performance-based control. Besides, as advanced control strategies, robust control and passivity-based control for the parallel manipulators are also introduced. Comparative study in view of computation burden and tracking performance are performed. It turned out that the physical structure properties of parallel manipulators’ dynamics are similar with that of serial ones, and this constitutes a common foundation for the two kinds of manipulators to develop together that control design of parallel manipulators can start with ever established control methods of serial manipulators.

Publisher

Trans Tech Publications, Ltd.

Subject

Mechanical Engineering,Mechanics of Materials,General Materials Science

Link

https://www.scientific.net/KEM.339.307.pdf

Reference27 articles.

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