Variable structure control of high-speed parallel manipulator considering the mechatronics coupling model

In this paper, a variable structure control strategy is adopted to improve position accuracy of Diamond 600k, a 2-Dof parallel manipulator. Firstly, mechanism and servomotor dynamics are developed in terms of the virtual work principle, while the mechantronics coupling model of the manipulator is formulated according to the equivalent torque. At this stage, the mass matrix of the mechanism is calculated individually to decouple the systematic model. This can effectively reduce the computational burden of the dynamic model in the real time control process. Then, various path-planning methods are compared with each other in order to explore which of them is more suitable to the high-speed manipulator. Last, results of the relevant experiments and simulations are presented from which it is easily can be seen that in comparison to conventional PID controller, the algorithm developed in this paper provides more reliable tracking performance.