Synchronous Tracking Control of Parallel Manipulators Using Cross-coupling Approach
International Journal of Robotics Research
Finite time position synchronised control for parallel manipulators using fast terminal sliding mode
International Journal of Systems Science
A simple nonlinear PID control for finite-time regulation of robot manipulators
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
IEEE Transactions on Robotics
Projection-based control of parallel manipulators
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A saturated PD plus scheme for asymptotic tracking of robot manipulators
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
A simple nonlinear proportional-derivative controller for friction compensation
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
An exponential family of hyperbolic-type controllers
WSEAS Transactions on Circuits and Systems
Dynamics and control of a novel 3-DOF parallel manipulator with actuation redundancy
International Journal of Automation and Computing
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High-precision motion of parallel manipulators depends not only on the position accuracy of each actuator, but also on the position synchronization of all actuators. This paper presents a simple synchronized control algorithm for the setpoint position control of parallel manipulators, by incorporating cross-coupling technology into a common proportional-derivative (PD) control architecture. An integrated controller is developed, consisting of a PD control and a saturated proportional-integral (S-PI) control with feedback of the differential position errors amongst actuators (defined as the synchronization errors). The controller can stabilize the motion of each actuator, and meanwhile synchronize all actuators' motions so that both position and synchronization errors converge to zero. The control algorithm does not use the modeling parameters in the controller formulation, and thus permits easy implementation in practice. It is proved that the proposed method can guarantee global asymptotical stability of the system. Experiments conducted on a planar three-degree-of-freedom parallel manipulator demonstrate the effectiveness of the proposed approach.