Decoupling control for spatial six-degree-of-freedom electro-hydraulic parallel robot
Robotics and Computer-Integrated Manufacturing
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In this paper, a complete dynamic model on task space for a 6 degrees of freedom (DOF) Gough-Stewart platform-type computer numerical control (CNC) machine is derived. The rotation terms of the legs are included for those inertia effects cannot be negligible in the machine tool applications. The formulation derived by means of the Euler-Lagrange method is convenient for designing the adaptive control law. Also, the average-type force model for end milling process is derived and included in the dynamic model and control. A composite adaptive control scheme is developed by use of filtering dynamics technique. An appropriate estimator gain is designed in the parameter adaptation law that is useful for estimating the selected important cutting parameters. Experimental results verify the proposed adaptive control scheme can achieve good tracking performance. © 2004 Wiley Periodicals, Inc.