TY - GEN
T1 - Decoupling control and simulation of a 3-RSR spheroid parallel wrist
AU - Xiao, Cai
AU - Jiang, Hao
AU - Zhang, Guoying
AU - Zhang, Tao
AU - Guan, Yisheng
AU - Liu, Guanfeng
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/12
Y1 - 2019/12
N2 - The control of position and trajectory tracking are critical issues in parallel robots. Traditional PID tracking algorithms, which are based on kinematics control use the position and speed deviation as a negative feedback in order to design a controller. However, this method is not only hard to maintain the excellent dynamic and static quality of a system, but it is also incapable of realizing complete decoupling, and it needs large energy to be controlled. To overcome such drawbacks, this paper proposes, a computed torque decoupling control strategy for a 3-RSR spheroid parallel mechanism. The control strategy includes a computed torque decoupling control method with traditional PD controller and self-adaption fuzzy controller. It was proved that the corresponding Lyapunov function is global asymptotic stable in the ideal and non-ideal estimation. A set of ADAMS-MATLAB dynamic simulations were established based on virtual prototyping technology. The results demonstrated that the performance of the control scheme with self-adaption fuzzy controller is more effective than that with PD controller.
AB - The control of position and trajectory tracking are critical issues in parallel robots. Traditional PID tracking algorithms, which are based on kinematics control use the position and speed deviation as a negative feedback in order to design a controller. However, this method is not only hard to maintain the excellent dynamic and static quality of a system, but it is also incapable of realizing complete decoupling, and it needs large energy to be controlled. To overcome such drawbacks, this paper proposes, a computed torque decoupling control strategy for a 3-RSR spheroid parallel mechanism. The control strategy includes a computed torque decoupling control method with traditional PD controller and self-adaption fuzzy controller. It was proved that the corresponding Lyapunov function is global asymptotic stable in the ideal and non-ideal estimation. A set of ADAMS-MATLAB dynamic simulations were established based on virtual prototyping technology. The results demonstrated that the performance of the control scheme with self-adaption fuzzy controller is more effective than that with PD controller.
KW - Computed torque decoupling control
KW - Parallel robot dynamic
KW - PID
UR - https://www.scopus.com/pages/publications/85079044199
U2 - 10.1109/ROBIO49542.2019.8961596
DO - 10.1109/ROBIO49542.2019.8961596
M3 - 会议稿件
AN - SCOPUS:85079044199
T3 - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
SP - 989
EP - 994
BT - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
Y2 - 6 December 2019 through 8 December 2019
ER -