Output Decoupling control of 6-DOF Parallel manipulator

被引：0
|
作者：
He, Jing-Feng [1 ]
Xie, Wen-Jian [1 ]
Han, Jun-Wei [1 ]
机构：
[1] School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China
来源：
Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology | 2006年 / 38卷 / 03期
关键词：
Degrees of freedom (mechanics) - Feedback control - Nonlinear control systems - Two term control systems;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
6-DOF Parallel manipulator is a nonlinear MIMO system, and its pose outputs are strongly coupled. Using feedback linearization and linear PD control, only translational motions are decoupled and the rotational motions still exist couplings. To fully decouple the outputs of parallel manipulator, a new decoupling controller based on feedback linearization is presented. Using this controller, rotational motions as well as translational motions are decoupled, and the effectiveness of the decoupling controller is validated through simulation.
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页码：395 / 398
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