Two-time scale controller design for a high speed planar parallel manipulator with structural flexibility

Authors:
Bongsoo Kang;Benny Yeung;James K. Mills
Affiliations:
Department of Mechanical and Industrial Engineering, University of Toronto, 5 King's College Road, Toronto, Ontario (Canada) M5S 3G8;Department of Mechanical and Industrial Engineering, University of Toronto, 5 King's College Road, Toronto, Ontario (Canada) M5S 3G8;Department of Mechanical and Industrial Engineering, University of Toronto, 5 King's College Road, Toronto, Ontario (Canada) M5S 3G8
Venue:
Robotica
Year:
2002

Citing 2
Cited 3

A singular perturbation approach to control of lightweight flexible manipulators

International Journal of Robotics Research
Introduction to Robotics: Mechanics and Control

Introduction to Robotics: Mechanics and Control

Vibration Control of a Planar Parallel Manipulator Using Piezoelectric Actuators

Journal of Intelligent and Robotic Systems
Vibration control of elastodynamic response of a 3-prr flexible parallel manipulator using pzt transducers

Robotica
Book review: Flexible robot dynamics and controls, R.D. Robinett, C. Dohrmann, G.R. Eisler, J. Feddema, G.G. Parker, D.G. Wilson, D. Stokes (Eds.); Kluwer Academic/Plenum Publishers, New York, 2002, ISBN: 0-306-46724-0

Automatica (Journal of IFAC)

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Abstract

Planar parallel manipulators, with potential applications in high speed, high acceleration tasks such as electronic component placement, would be subject to mechanical vibration due to high inertial forces acting on the linkages and other components. To achieve high throughput capability, such motion induced vibration would have to be damped quickly, to reduce settling time of the platform position and orientation. This paper develops a two-time scale dynamic model of a three-degree-of-freedom planar parallel manipulator with structurally flexible linkages. Based on the two-time scale model, a composite controller, consisting of a computed torque controller for the slow time-scale or rigid body subsystem dynamics, and a linear-quadratic state-feedback regulator for the fast time-scale flexible dynamic subsystem, is designed. Simulation results show that the composite control scheme permits the parallel manipulator platform to follow a given desired trajectory, while damping structural vibration arising due to excitation from inertial forces.