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Performance analysis of the computed torque based active force control for a planar parallel manipulator

conference contribution
posted on 2012-01-01, 00:00 authored by A Noshadi, Ali ZolfagharianAli Zolfagharian, M Mailah
This paper presents a novel approach to control a 3-RRR (revolute-revolute-revolute) planar parallel manipulator applying an active force control (AFC) strategy. A PID-based computed torque controller (CTC) was first designed and developed to demonstrate the basic and stable response of the manipulator in order to follow a prescribed trajectory. Then, the AFC part was incorporated into the control scheme in series with the CTC (AFC-CTC) in a cascade form. Performance of the system was demonstrated by the computer simulation results. By using the AFC method, the design of trajectory tracking controller can be conducted based on a precise model of the system. The overall tracking performance was improved with using AFC scheme in presence of known or unknown disturbances. Results clearly illustrate the robustness and effectiveness of the proposed AFC-based scheme as a robust disturbance rejecter compared to the conventional CT controller.

History

Volume

110-116

Pagination

4932-4940

Location

Bangkok, THAILAND

Start date

2011-07-29

End date

2011-07-31

ISSN

1660-9336

eISSN

1662-7482

ISBN-13

9783037852620

Language

English

Publication classification

E1.1 Full written paper - refereed

Editor/Contributor(s)

Fan W

Title of proceedings

Applied Mechanics and Materials

Event

2nd International Conference on Mechanical and Aerospace Engineering (ICMAE 2011)

Publisher

TRANS TECH PUBLICATIONS LTD

Series

Applied Mechanics and Materials

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