Synchronization control of planar 2-dof robot with redundant actuation

Considering the special characteristics of the redundant parallel manipulator, with emphasis on the variable of structure, relatively small workspace and the strong coupling relationship among arms, a synchronization control strategy is presented in this paper. Since in the feedforward,the inertial and the coriolis matrix are designed constant according to relatively small workspace, position measurement of the endeffector in plane is ignored. Synchronization error and coupling error are introduced to reject the model errors of inertial and coriolis matrix as stated above. Using the method, the errors of driving arms may be reduced, as well as synchronization performance among axes improves. The stability of the controllers was proved by Lyapunov. Finally, experimental results show the feasibility.