Force/Position Hybrid Control of 6PUS-UPU Redundant Driven Parallel Manipulator Based on 2-DOF Internal Model Control
To improve control performance of parallel manipulator, servo control is optimized according to 2-DOF control with Internal Model Control. Position loop of the controller is redesigned based on the original current loop and speed loop. The hybrid force/position control strategy on the basis of cross...
Saved in:
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2014-01-01
|
| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2014/857947 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832551571021365248 |
|---|---|
| author | Kuijing Zheng Chao Wang |
| author_facet | Kuijing Zheng Chao Wang |
| author_sort | Kuijing Zheng |
| collection | DOAJ |
| description | To improve control performance of parallel manipulator, servo control is optimized according to 2-DOF control with Internal Model Control. Position loop of the controller is redesigned based on the original current loop and speed loop. The hybrid force/position control strategy on the basis of cross-coupling is proposed. With mechatronic cosimulation system, it is proved that the force/position hybrid control on the basis of 2-DOF Internal Model Control has better stability and position precision compared with the traditional PID control. The control precision and stability of the parallel manipulator are improved effectively in actual experiment. Two types of compliance operation including peg in hole and surface tracking are realized in 6PUS-UPU parallel manipulator and both have good applicable effect. |
| format | Article |
| id | doaj-art-e93ee9ef21ae4381ba8a3d8a45001286 |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2014-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-e93ee9ef21ae4381ba8a3d8a450012862025-02-03T06:01:16ZengWileyJournal of Control Science and Engineering1687-52491687-52572014-01-01201410.1155/2014/857947857947Force/Position Hybrid Control of 6PUS-UPU Redundant Driven Parallel Manipulator Based on 2-DOF Internal Model ControlKuijing Zheng0Chao Wang1Key Laboratory of Advanced Forging & Stamping Technology and Science and Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao 066004, ChinaKey Laboratory of Advanced Forging & Stamping Technology and Science and Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao 066004, ChinaTo improve control performance of parallel manipulator, servo control is optimized according to 2-DOF control with Internal Model Control. Position loop of the controller is redesigned based on the original current loop and speed loop. The hybrid force/position control strategy on the basis of cross-coupling is proposed. With mechatronic cosimulation system, it is proved that the force/position hybrid control on the basis of 2-DOF Internal Model Control has better stability and position precision compared with the traditional PID control. The control precision and stability of the parallel manipulator are improved effectively in actual experiment. Two types of compliance operation including peg in hole and surface tracking are realized in 6PUS-UPU parallel manipulator and both have good applicable effect.http://dx.doi.org/10.1155/2014/857947 |
| spellingShingle | Kuijing Zheng Chao Wang Force/Position Hybrid Control of 6PUS-UPU Redundant Driven Parallel Manipulator Based on 2-DOF Internal Model Control Journal of Control Science and Engineering |
| title | Force/Position Hybrid Control of 6PUS-UPU Redundant Driven Parallel Manipulator Based on 2-DOF Internal Model Control |
| title_full | Force/Position Hybrid Control of 6PUS-UPU Redundant Driven Parallel Manipulator Based on 2-DOF Internal Model Control |
| title_fullStr | Force/Position Hybrid Control of 6PUS-UPU Redundant Driven Parallel Manipulator Based on 2-DOF Internal Model Control |
| title_full_unstemmed | Force/Position Hybrid Control of 6PUS-UPU Redundant Driven Parallel Manipulator Based on 2-DOF Internal Model Control |
| title_short | Force/Position Hybrid Control of 6PUS-UPU Redundant Driven Parallel Manipulator Based on 2-DOF Internal Model Control |
| title_sort | force position hybrid control of 6pus upu redundant driven parallel manipulator based on 2 dof internal model control |
| url | http://dx.doi.org/10.1155/2014/857947 |
| work_keys_str_mv | AT kuijingzheng forcepositionhybridcontrolof6pusupuredundantdrivenparallelmanipulatorbasedon2dofinternalmodelcontrol AT chaowang forcepositionhybridcontrolof6pusupuredundantdrivenparallelmanipulatorbasedon2dofinternalmodelcontrol |