Space end effector cpaturing hybrid simulation system

Zeng, Desheng; Yu, Yang; Cong, Dacheng; Yang, Chengxiang

doi:10.1109/fpm.2015.7337159

Cited by 1 publication

(1 citation statement)

References 4 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Parallel manipulators are becoming more and more interesting in the field of machine tools and robots due to their precision, stiffness, and dynamics [1][2][3][4][5][6][7]. Jiang proposed a modal space control strategy suitable for the electro-hydraulic Steward manipulator [8].…”

Section: Introductionmentioning

confidence: 99%

PD Plus Dynamic Pressure Feedback Control for a Direct Drive Stewart Manipulator

Zhang

2020

Energies

View full text Add to dashboard Cite

In order to ensure good dynamic characteristics, servo valve is usually adopted as the drive part of Stewart manipulator which causes huge power consumption, while direct drive electro-hydraulic servo system has the advantages of energy saving, simple structure, convenient installation, and low failure rate. But its dynamic characteristics are so poor that it can only be applied to occasions where quick response is not needed. On the consideration above, following works are done in this paper. Since current coupling exists in the control system based on the speed of the servo motor as the control input, the control system of the direct drive Stewart manipulator is established based on the current of the servo motor as the control input in which the current coupling can be solved. In order to improve the dynamic characteristics of the direct drive Stewart manipulator, a Proportion Differentiation (PD) plus dynamic pressure feedback control strategy is also put forward in this paper, which is verified by using a simulated hydraulically driven Stewart manipulator. Simulation results show that both dynamic coupling and current coupling are solved and the control strategy proposed in this paper can significantly increase the bandwidths of all degrees of freedom.

show abstract

Section: Introductionmentioning

confidence: 99%

PD Plus Dynamic Pressure Feedback Control for a Direct Drive Stewart Manipulator

Zhang

2020

Energies

View full text Add to dashboard Cite

show abstract

Space end effector cpaturing hybrid simulation system

Cited by 1 publication

References 4 publications

PD Plus Dynamic Pressure Feedback Control for a Direct Drive Stewart Manipulator

PD Plus Dynamic Pressure Feedback Control for a Direct Drive Stewart Manipulator

Contact Info

Product

Resources

About