An Iterative Tuning Method for Feedforward Control of Parallel Manipulators Considering Nonlinear Dynamics

被引：0
|
作者：
Wang, Xiaojian [1 ,2 ,3 ]
Wu, Jun [1 ,2 ,3 ]
机构：
[1] Tsinghua Univ, Beijing Key Lab Transformat High End Mfg Equipment, Beijing 100084, Peoples R China
[2] Tsinghua Univ, Dept Mech Engn, State Key Lab Tribol Adv Equipment, Beijing 100084, Peoples R China
[3] Tsinghua Univ, Inst Mfg Engn, Dept Mech Engn, Beijing 100084, Peoples R China
来源：
CHINESE JOURNAL OF MECHANICAL ENGINEERING | 2025年 / 38卷 / 01期
基金：
中国国家自然科学基金;
关键词：
Parallel manipulator; Dynamic model; Feedforward control; Iterative learning control; Parameter design; LEARNING CONTROL; DESIGN; PARAMETERS;
D O I：
10.1186/s10033-024-01162-x
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
Feedforward control is one of the most effective control techniques to increase the robot's tracking accuracy. However, most of the dynamic models used in the feedforward controllers are linearly simplified such that the nonlinear and time-varying characteristics of dynamics in the workspace are ignored. In this paper, an iterative tuning method for feedforward control of parallel manipulators by taking nonlinear dynamics into account is proposed. Based on the robot rigid-body dynamic model, a feedforward controller considering the dynamic nonlinearity is presented. An iterative tuning method is given to iteratively update the feedforward controller by minimizing the root mean square (RMS) of the joint errors at each cycle. The effectiveness and extrapolation capability of the proposed method are validated through the experiments on a 2-DOF parallel manipulator. This research proposes an iterative tuning method for feedforward control of parallel manipulators considering nonlinear dynamics, which has better extrapolation capability in the whole workspace of manipulators.
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页数：11
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