Synchronous Tracking Control of Parallel Manipulators Using Cross-coupling Approach

Sun, Dong; Lu, Rengui; Mills, James K.; Wang, C.

doi:10.1177/0278364906072037

Cited by 88 publications

(45 citation statements)

References 42 publications

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“…Our recent work [9] also discussed more complex spacecraft dynamics to achieve the phase synchronization of spiral or circular translational trajectories in three dimensions as well as the synchronization of rotational dynamics. Also, it is important to note that the adaptive synchronization of multiple robotic manipulators in a single local coupling configuration was studied in [45] and [46].…”

Section: A Comparison With Related Workmentioning

confidence: 99%

Cooperative Robot Control and Concurrent Synchronization of Lagrangian Systems

Chung¹,

Slotine²

2009

IEEE Trans. Robot.

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Abstract-Concurrent synchronization is a regime where diverse groups of fully synchronized dynamic systems stably coexist. We study global exponential synchronization and concurrent synchronization in the context of Lagrangian systems control. In a network constructed by adding diffusive couplings to robot manipulators or mobile robots, a decentralized tracking control law globally exponentially synchronizes an arbitrary number of robots, and represents a generalization of the average consensus problem. Exact nonlinear stability guarantees and synchronization conditions are derived by contraction analysis. The proposed decentralized strategy is further extended to adaptive synchronization and partialstate coupling.

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Section: A Comparison With Related Workmentioning

confidence: 99%

Cooperative Robot Control and Concurrent Synchronization of Lagrangian Systems

Chung¹,

Slotine²

2009

IEEE Trans. Robot.

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“…The synchronization goal is motivated by the fact: if the ratio of the actual position/rotation of each actuator at each sampling time is equal to that of all other actuators, the 6-DOF hydraulic parallel manipulator moves in a synchronous manner [5,18]. Thus, the synchronization goal is defined as…”

Section: Synchronization Errormentioning

confidence: 99%

“…When the coupled position error * ( ) 0, i e t  both position error and synchronization error converge to zero [5,19].…”

Section: Outer Loop Control Designmentioning

confidence: 99%

“…Recently, crossing-coupling control is introduced to solve the position synchronization of multiple motion axes. SUN et al [5,11] presented a method that utilizes the cross-coupling concept to solve the synchronous tracing control of planer parallel robot.…”

Section: Introductionmentioning

confidence: 99%

“…[5] are: 1) Cascade control methodology is used here, so that this controller can be directly used in hydraulic parallel manipulator. 2) This controller does not have a sign function or saturation function.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Synchronous tracking control of 6-DOF hydraulic parallel manipulator using cascade control method

Wang

2011

J. Cent. South Univ. Technol.

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The synchronous tracking control problem of a hydraulic parallel manipulator with six degrees of freedom (DOF) is complicated since the inclusion of hydraulic elements increases the order of the system. To solve this problem, cascade control method with an inner/outer-loop control structure is used, which masks the hydraulic dynamics with the inner-loop so that the designed controller takes into account of both the mechanical dynamics and the hydraulic dynamics of the manipulator. Furthermore, a cross-coupling control approach is introduced to the synchronous tracking control of the manipulator. The position synchronization error is developed by considering motion synchronization between each actuator joint and its adjacent ones based on the synchronous goal. Then, with the feedback of both position error and synchronization error, the tracking is proven to guarantee that both the position errors and synchronization errors asymptotically converge to zero. Moreover, the effectiveness of the proposed approach is verified by the experimental results performed with a 6-DOF hydraulic parallel manipulator.

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Contouring Control for Multi‐Axis Motion Systems With Holonomic Constraints: Theory and Application to a Parallel System

Chen¹,

Tsai²

2015

Asian Journal of Control

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In this paper, the contouring control problem for the constrained multi-axis motion system is studied. The method of equivalent errors, previously proposed for unconstrained motion systems, is generalized to the system with holonomic constraints. It is shown that the method can be applied to the constrained system provided that the constraints satisfy a proper condition. Because of the constraints, the states in the control law are not completely independent. The unavailable states can be estimated using linear approximation from the constraint equations. As an illustrative example, the proposed method is applied to a parallel motion system with complicated dynamics. A contouring controller is designed using the method of equivalent errors incorporated with integral sliding mode control. Simulation results for contouring circular, elliptic, and square paths verify the effectiveness of the proposed method.

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Synchronous Tracking Control of Parallel Manipulators Using Cross-coupling Approach

Cited by 88 publications

References 42 publications

Cooperative Robot Control and Concurrent Synchronization of Lagrangian Systems

Cooperative Robot Control and Concurrent Synchronization of Lagrangian Systems

Synchronous tracking control of 6-DOF hydraulic parallel manipulator using cascade control method

Contouring Control for Multi‐Axis Motion Systems With Holonomic Constraints: Theory and Application to a Parallel System

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