2-DOF Synchronous Control of 6PUS-UPU Parallel Manipulator

Abstract

To meet the increasing demands on the control performance of parallel manipulator, servo control strategy for parallel manipulator was researched systematically. Combined 2-DOF control with Internal Model Control, the servo controller for parallel manipulator was optimized as smoothly and efficiently as possible. On the basis of the original current loop and speed loop, the position loop was redesigned to have both good position tracking characteristics and anti-disturbance capacity. The synchronous control strategy combined position signal and force signal was proposed. The actual experiments show that 2-DOF synchronous control has better stability and position tracking performance compared with the traditional PID control. The control performance of parallel manipulator is improved effectively.