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

Noshadi, A, Zolfagharian, Ali and Mailah, M 2012, Performance analysis of the computed torque based active force control for a planar parallel manipulator, in Applied Mechanics and Materials, TRANS TECH PUBLICATIONS LTD,, pp. 4932-4940, doi: 10.4028/www.scientific.net/AMM.110-116.4932.

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Title Performance analysis of the computed torque based active force control for a planar parallel manipulator
Author(s) Noshadi, A
Zolfagharian, Ali
Mailah, M
Conference name 2nd International Conference on Mechanical and Aerospace Engineering (ICMAE 2011)
Conference location Bangkok, THAILAND
Conference dates 2011/07/29 - 2011/07/31
Title of proceedings Applied Mechanics and Materials
Editor(s) Fan, W
Publication date 2012
Series Applied Mechanics and Materials
Start page 4932
End page 4940
Total pages 9
Publisher TRANS TECH PUBLICATIONS LTD
Keyword(s) Science & Technology
Technology
Engineering, Aerospace
Engineering, Mechanical
Mechanics
Engineering
planar parallel manipulator
computed torque control
active force control
Summary 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.
ISBN 9783037852620
ISSN 1660-9336
1662-7482
Language eng
DOI 10.4028/www.scientific.net/AMM.110-116.4932
Indigenous content off
Field of Research 09 Engineering
HERDC Research category E1.1 Full written paper - refereed
Persistent URL http://hdl.handle.net/10536/DRO/DU:30124634

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