Decentralized control of a 3-PRS parallel manipulator using a decoupled model
Journal
Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
Pages
775-779
ISBN
9.78161E+12
Date Issued
2011
Author(s)
Yuan W.-H.
Abstract
A novel dynamic model which characterizes the cooperative manipulation of a 3-PRS (Prismatic, Revolute, Spherical) parallel manipulator is developed. The coupling dynamics between the actuated legs is characterized by the constraint forces corresponding to three holonomic constraints. Based on the proposed model, the reaction forces can be effectively computed such that each leg can be considered as an independent subsystem after compensation of the reaction forces. Computer simulations on tracking circular trajectory are performed and a decentralized control algorithm is proposed to demonstrate the effectiveness using the developed model.
Type
conference paper