In this paper, we develop a new control method, termed adaptive synchronized (A-S) control, for improving tracking accuracy of a P-R-R type planar parallel manipulator with parametric uncertainty. The novelty of A-S control, a combination of synchronized control and adaptive control, is in the application of synchronized control to a single parallel manipulator so that tracking accuracy is improved during high-speed, high-acceleration tracking motions. Through treatment of each chain as a submanipulator; the P-R-R manipulator is thus modeled as a multi-robot system comprised of three submanipulators grasping a common payload. Considering the geometry of the platform, these submanipulators are kinematically constrained and move in a synchronous manner. To solve this synchronization control problem, a synchronization error is defined, which represents the coupling effects among the submanipulators. With the employment of this synchronization error, tracking accuracy of the platform is improved. Simultaneously, the estimated unknown parameters converge to their true values through the use of a bounded-gain-forgetting estimator. Experiments conducted on the P-R-R manipulator demonstrate the validity of the approach.
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e-mail: ren@mie.utoronto.ca
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December 2006
Technical Briefs
Adaptive Synchronized Control for a Planar Parallel Manipulator: Theory and Experiments
Lu Ren,
Lu Ren
Department of Mechanical and Industrial Engineering,
e-mail: ren@mie.utoronto.ca
University of Toronto
, 5 King’s College Road, Toronto, Ontario, Canada M5S 3G8
Search for other works by this author on:
James K. Mills,
James K. Mills
Department of Mechanical and Industrial Engineering,
e-mail: mills@mie.utoronto.ca
University of Toronto
, 5 King’s College Road, Toronto, Ontario, Canada M5S 3G8
Search for other works by this author on:
Dong Sun
Dong Sun
Department of Manufacturing and Engineering Management,
e-mail: medsun@cityu.edu.hk
City University of Hong Kong
, 87 Tat Chee Ave., Kowloon, Hong Kong
Search for other works by this author on:
Lu Ren
Department of Mechanical and Industrial Engineering,
University of Toronto
, 5 King’s College Road, Toronto, Ontario, Canada M5S 3G8e-mail: ren@mie.utoronto.ca
James K. Mills
Department of Mechanical and Industrial Engineering,
University of Toronto
, 5 King’s College Road, Toronto, Ontario, Canada M5S 3G8e-mail: mills@mie.utoronto.ca
Dong Sun
Department of Manufacturing and Engineering Management,
City University of Hong Kong
, 87 Tat Chee Ave., Kowloon, Hong Konge-mail: medsun@cityu.edu.hk
J. Dyn. Sys., Meas., Control. Dec 2006, 128(4): 976-979 (4 pages)
Published Online: December 11, 2005
Article history
Received:
October 27, 2004
Revised:
December 11, 2005
Citation
Ren, L., Mills, J. K., and Sun, D. (December 11, 2005). "Adaptive Synchronized Control for a Planar Parallel Manipulator: Theory and Experiments." ASME. J. Dyn. Sys., Meas., Control. December 2006; 128(4): 976–979. https://doi.org/10.1115/1.2363200
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