Performance analysis of the computed torque based active force control for a planar parallel manipulator
This paper presents a novel approach to control a 3-RRR (revolute-revolute-revolute) planar parallel manipulator applying an active force control (AFC) strategy. A PID-based computed torque controller (CTC) was first designed and developed to demonstrate the basic and stable response of the manipula...
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my.utm.473652019-03-31T08:38:25Z http://eprints.utm.my/id/eprint/47365/ Performance analysis of the computed torque based active force control for a planar parallel manipulator Noshadi, Amin Zolfagharian, Ali Wang, Gang TJ Mechanical engineering and machinery This paper presents a novel approach to control a 3-RRR (revolute-revolute-revolute) planar parallel manipulator applying an active force control (AFC) strategy. A PID-based computed torque controller (CTC) was first designed and developed to demonstrate the basic and stable response of the manipulator in order to follow a prescribed trajectory. Then, the AFC part was incorporated into the control scheme in series with the CTC (AFC-CTC) in a cascade form. Performance of the system was demonstrated by the computer simulation results. By using the AFC method, the design of trajectory tracking controller can be conducted based on a precise model of the system. The overall tracking performance was improved with using AFC scheme in presence of known or unknown disturbances. Results clearly illustrate the robustness and effectiveness of the proposed AFC-based scheme as a robust disturbance rejecter compared to the conventional CT controller. Scientific.Net 2012 Article PeerReviewed Noshadi, Amin and Zolfagharian, Ali and Wang, Gang (2012) Performance analysis of the computed torque based active force control for a planar parallel manipulator. Applied Mechanics And Materials, 110-11 . pp. 4932-4940. ISSN 1660-9336 http://dx.doi.org/10.4028/www.scientific.net/AMM.110-116.4932 DOI:10.4028/www.scientific.net/AMM.110-116.4932 |
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TJ Mechanical engineering and machinery Noshadi, Amin Zolfagharian, Ali Wang, Gang Performance analysis of the computed torque based active force control for a planar parallel manipulator |
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This paper presents a novel approach to control a 3-RRR (revolute-revolute-revolute) planar parallel manipulator applying an active force control (AFC) strategy. A PID-based computed torque controller (CTC) was first designed and developed to demonstrate the basic and stable response of the manipulator in order to follow a prescribed trajectory. Then, the AFC part was incorporated into the control scheme in series with the CTC (AFC-CTC) in a cascade form. Performance of the system was demonstrated by the computer simulation results. By using the AFC method, the design of trajectory tracking controller can be conducted based on a precise model of the system. The overall tracking performance was improved with using AFC scheme in presence of known or unknown disturbances. Results clearly illustrate the robustness and effectiveness of the proposed AFC-based scheme as a robust disturbance rejecter compared to the conventional CT controller. |
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Article |
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Noshadi, Amin Zolfagharian, Ali Wang, Gang |
author_facet |
Noshadi, Amin Zolfagharian, Ali Wang, Gang |
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Noshadi, Amin |
title |
Performance analysis of the computed torque based active force control for a planar parallel manipulator |
title_short |
Performance analysis of the computed torque based active force control for a planar parallel manipulator |
title_full |
Performance analysis of the computed torque based active force control for a planar parallel manipulator |
title_fullStr |
Performance analysis of the computed torque based active force control for a planar parallel manipulator |
title_full_unstemmed |
Performance analysis of the computed torque based active force control for a planar parallel manipulator |
title_sort |
performance analysis of the computed torque based active force control for a planar parallel manipulator |
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2012 |
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http://eprints.utm.my/id/eprint/47365/ http://dx.doi.org/10.4028/www.scientific.net/AMM.110-116.4932 |
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1643652298459578368 |
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13.209306 |