Modeling and trajectory tracking control of 6-DOF RSS type parallel manipulator

被引：13
|
作者：
Dumlu, Ahmet [1 ]
Erenturk, Koksal [1 ]
机构：
[1] Ataturk Univ, Coll Engn, Dept Elect & Elect Engn, TR-25240 Erzurum, Turkey
来源：
ROBOTICA | 2014年 / 32卷 / 04期
关键词：
Control of robotic systems; Parallel manipulators; Robot dynamics; Computed torque control; KINEMATIC ANALYSIS; ROBOT; DESIGN;
D O I：
10.1017/S0263574713000908
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this study, kinematic analysis of 6-DOF RSS parallel manipulator using Denavit Hartenbeng (D-H) method is investigated. In addition, in order to improve the proposed method, determination of all the active and passive angles, required to obtain Jacobian and complete dynamic model of manipulator, is also achieved. The effects of dynamic models of 6-DOF RSS parallel manipulator with its actuators on trajectory tracking control are studied in detail. Feedback dynamic compensation terms of motor-mechanism coupling system that is needed to compute torque control are obtained through both a single link approximation model and a complete dynamic model. The complete model is derived by taking account of the interaction between the input links and coupler links of the manipulator. Simulations showed that obtaining complete model of manipulator by means of D-H method and using computed control law could improve the quality of trajectory tracking control of parallel manipulator.
引用
收藏
页码：643 / 657
页数：15
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