Force/position hybrid control of 6PUS-UPU redundant driven parallel manipulator based on 2-DOF internal model control
type: Item
instance of: scholarly article
title: Force/position hybrid control of 6PUS-UPU redundant driven parallel manipulator based on 2-DOF internal model control
zbMATH Open document ID: 1307.93193
DOI: 10.1155/2014/857947
author: Kuijing Zheng
author: Chao Wang
published in: Journal of Control Science and Engineering
publication date: 2015-03-27T00:00:00Z
review text: Summary: 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. A 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.
Mathematics Subject Classification ID: 93C30
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 93B51
Mathematics Subject Classification ID: 03D99
zbMATH DE Number: 6420443
zbMATH Keywords: parallel manipulator
zbMATH Keywords: servo control
zbMATH Keywords: internal model control
zbMATH Keywords: hybrid force/position control
zbMATH Keywords: PID control
Wikidata QID: Q59056643
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2014/857947
OpenAlex ID: W2035874716
description: scientific article