Trajectory Tracking Control Study of a New Parallel Mechanism with Redundant Actuation
Parallel mechanisms with redundant actuation are attracting numerous scholars’ research interest due to their inherent advantages. In this paper, an efficient trajectory tracking control scheme for the new redundantly actuated parallel mechanism by integrating force/position hybrid control with the...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2020-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2020/7178103 |
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| _version_ | 1832566165428240384 |
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| author | Haiqiang Zhang Hairong Fang Dan Zhang Qi Zou Xueling Luo |
| author_facet | Haiqiang Zhang Hairong Fang Dan Zhang Qi Zou Xueling Luo |
| author_sort | Haiqiang Zhang |
| collection | DOAJ |
| description | Parallel mechanisms with redundant actuation are attracting numerous scholars’ research interest due to their inherent advantages. In this paper, an efficient trajectory tracking control scheme for the new redundantly actuated parallel mechanism by integrating force/position hybrid control with the combination of inertia feed-forward control and back propagation (BP) neural network PID control is proposed. The dynamic models including the joint space and task space are formulated explicitly in efficient and compact form by means of the principle of virtual work and d’Alembert formulations. The force/position hybrid control is implemented to perform trajectory tracking and optimize the driving force configuration in MATLAB/Simulink environment, before being applied to an actual parallel mechanism. The illustrative simulation results demonstrate that the force/position hybrid control scheme is available to provide good trajectory tracking performance. Simultaneously, the feasibility of the proposed control scheme is verified by comparison analysis with the aforementioned conventional control method. |
| format | Article |
| id | doaj-art-dd2aabe2546a4139bbfd36d0348357f0 |
| institution | Kabale University |
| issn | 1687-5966 1687-5974 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-dd2aabe2546a4139bbfd36d0348357f02025-02-03T01:05:01ZengWileyInternational Journal of Aerospace Engineering1687-59661687-59742020-01-01202010.1155/2020/71781037178103Trajectory Tracking Control Study of a New Parallel Mechanism with Redundant ActuationHaiqiang Zhang0Hairong Fang1Dan Zhang2Qi Zou3Xueling Luo4School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing, ChinaSchool of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing, ChinaLassonde School of Engineering, York University, ON, M3J 1P3, CanadaLassonde School of Engineering, York University, ON, M3J 1P3, CanadaLassonde School of Engineering, York University, ON, M3J 1P3, CanadaParallel mechanisms with redundant actuation are attracting numerous scholars’ research interest due to their inherent advantages. In this paper, an efficient trajectory tracking control scheme for the new redundantly actuated parallel mechanism by integrating force/position hybrid control with the combination of inertia feed-forward control and back propagation (BP) neural network PID control is proposed. The dynamic models including the joint space and task space are formulated explicitly in efficient and compact form by means of the principle of virtual work and d’Alembert formulations. The force/position hybrid control is implemented to perform trajectory tracking and optimize the driving force configuration in MATLAB/Simulink environment, before being applied to an actual parallel mechanism. The illustrative simulation results demonstrate that the force/position hybrid control scheme is available to provide good trajectory tracking performance. Simultaneously, the feasibility of the proposed control scheme is verified by comparison analysis with the aforementioned conventional control method.http://dx.doi.org/10.1155/2020/7178103 |
| spellingShingle | Haiqiang Zhang Hairong Fang Dan Zhang Qi Zou Xueling Luo Trajectory Tracking Control Study of a New Parallel Mechanism with Redundant Actuation International Journal of Aerospace Engineering |
| title | Trajectory Tracking Control Study of a New Parallel Mechanism with Redundant Actuation |
| title_full | Trajectory Tracking Control Study of a New Parallel Mechanism with Redundant Actuation |
| title_fullStr | Trajectory Tracking Control Study of a New Parallel Mechanism with Redundant Actuation |
| title_full_unstemmed | Trajectory Tracking Control Study of a New Parallel Mechanism with Redundant Actuation |
| title_short | Trajectory Tracking Control Study of a New Parallel Mechanism with Redundant Actuation |
| title_sort | trajectory tracking control study of a new parallel mechanism with redundant actuation |
| url | http://dx.doi.org/10.1155/2020/7178103 |
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