Robust nonlinear task space control for 6 DOF parallel manipulator

Authors:
Hag Seong Kim;Young Man Cho;Kyo-Ii Lee
Affiliations:
Agency for Defense Development, Republic of Korea;School of Mechanical and Aerospace Engineering, Seoul National Univerisity, Republic of Korea;School of Mechanical and Aerospace Engineering, Seoul National Univerisity, Republic of Korea
Venue:
Automatica (Journal of IFAC)
Year:
2005

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Abstract

This paper presents a robust nonlinear controller equipped with a friction estimator for a 6 degree of freedom (DOF) parallel manipulator in the task space coordinates. The requisite 6 DOF system states for the task space control are acquired by an alpha-beta tracker and a numerical forward kinematic solution. The Friedland-Park friction observer in the joint space coordinates provides friction estimates that help to improve the control performance. Finally, the RNTC turns out to outper form a nonlinear task space control and a popularly adopted PID control with the friction estimator in the joint space coordinates.