Dynamics and control of a novel 3-DOF parallel manipulator with actuation redundancy

Authors:
Xue-Mei Niu;Guo-Qin Gao;Xin-Jun Liu;Zhi-Da Bao
Affiliations:
School of Electrical and Information Engineering, Jiangsu University, Zhenjiang, China 212013;School of Electrical and Information Engineering, Jiangsu University, Zhenjiang, China 212013;Department of Mechanical Engineering, Tsinghua University, Beijing, China 100084;School of Electrical and Information Engineering, Jiangsu University, Zhenjiang, China 212013
Venue:
International Journal of Automation and Computing
Year:
2013

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Abstract

This paper deals with the dynamics and control of a novel 3-degrees-of-freedom (DOF) parallel manipulator with actuation redundancy. According to the kinematics of the redundant manipulator, the inverse dynamic equation is formulated in the task space by using the Lagrangian formalism, and the driving force is optimized by utilizing the minimal 2-norm method. Based on the dynamic model, a synchronized sliding mode control scheme based on contour error is proposed to implement accurate motion tracking control. Additionally, an adaptive method is introduced to approximate the lumped uncertainty of the system and provide a chattering-free control. The simulation results indicate the effectiveness of the proposed approaches and demonstrate the satisfactory tracking performance compared to the conventional controller in the presence of the parameter uncertainties and un-modelled dynamics for the motion control of manipulators.