TY - JOUR
T1 - Active compliant control strategy of 3RPS/UPS parallel machine with redundant actuating leg based on lagrange equation
AU - Cui, Xueliang
AU - Chen, Wuyi
AU - Han, Xianguo
AU - Zhu, Xijing
AU - Wang, Jianqing
AU - Cheng, Quan
N1 - Publisher Copyright:
© 2016, Editorial Department of CIMS. All right reserved.
PY - 2016/10/1
Y1 - 2016/10/1
N2 - The equations of kinematical compatibility between redundant actuating leg and non-redundant actuating legs of 3RPS/UPS PKM were deduced. Based on the principle of virtual work, Lagrange dynamical equation of 3RPS PKM was derived, consequently the robust trajectory tracking control model was established. The dynamical equation of redundant actuating leg was presented, and the target impedance control model was built up. By using the fuzzy PID method, the appropriate force working on the redundant actuating leg was automatically tracked, so that the internal force of machine was maintained within a reasonable range, and the compliant control strategy of redundantly actuating leg was implemented. The availability of the compliance control model was verified through simulation analysis.
AB - The equations of kinematical compatibility between redundant actuating leg and non-redundant actuating legs of 3RPS/UPS PKM were deduced. Based on the principle of virtual work, Lagrange dynamical equation of 3RPS PKM was derived, consequently the robust trajectory tracking control model was established. The dynamical equation of redundant actuating leg was presented, and the target impedance control model was built up. By using the fuzzy PID method, the appropriate force working on the redundant actuating leg was automatically tracked, so that the internal force of machine was maintained within a reasonable range, and the compliant control strategy of redundantly actuating leg was implemented. The availability of the compliance control model was verified through simulation analysis.
KW - Compliance control
KW - Kinematical compatible equation
KW - Redundant actuation
KW - Robust trajectory tracking
UR - https://www.scopus.com/pages/publications/85001736059
U2 - 10.13196/j.cims.2016.10.018
DO - 10.13196/j.cims.2016.10.018
M3 - 文章
AN - SCOPUS:85001736059
SN - 1006-5911
VL - 22
SP - 2434
EP - 2441
JO - Jisuanji Jicheng Zhizao Xitong/Computer Integrated Manufacturing Systems, CIMS
JF - Jisuanji Jicheng Zhizao Xitong/Computer Integrated Manufacturing Systems, CIMS
IS - 10
ER -