Design of a new fuzzy model-based controller for complex dynamical systems with application to a 3-RRR spherical parallel manipulator

Farhadmanesh, M.; Rastin, M. Ali; Moosavian, S. Ali A.; Taherynezhad, M.

doi:10.1109/ifsc.2013.6675665

Cited by 1 publication

(1 citation statement)

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“…Dynamic feed forward control and computed torque control are common dynamic control methods [1][2][3]. Müller and Hufnagel [4] proposed the adaptive and singularity-free inverse dynamics models for control of parallel manipulators, Achim and Matthias [5] used the dynamics model as a feed forward on a handheld parallel mechanism to reduce the disturbance, and Farhadmanesh and Rastin [6] designed a new fuzzy model-based controller for complex dynamical systems with application to a 3-RRR spherical parallel manipulator.…”

Section: Introductionmentioning

confidence: 99%

Force/Position Hybrid Control of 6PUS-UPU Redundant Driven Parallel Manipulator Based on 2-DOF Internal Model Control

Zheng

Wang²

2014

Journal of Control Science and Engineering

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To improve control performance of parallel manipulator, servo control is optimized according to 2-DOF control with Internal Model Control. Position loop of the controller is redesigned based on the original current loop and speed loop. The hybrid force/position control strategy on the basis of cross-coupling is proposed. With mechatronic cosimulation system, it is proved that the force/position hybrid control on the basis of 2-DOF Internal Model Control has better stability and position precision compared with the traditional PID control. The control precision and stability of the parallel manipulator are improved effectively in actual experiment. Two types of compliance operation including peg in hole and surface tracking are realized in 6PUS-UPU parallel manipulator and both have good applicable effect.

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