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In this paper, we describe our implementation of a PID and a model-based adaptive robust controllers for a 2-DOF parallel manipulator with actuator redundancy. In the dynamics model, we also implement simple friction models to compensate the frictions in the active joints, passive joints, as well as the multiple joint. Experiments are performed to show the effectiveness of the control algorithms to track different end-effector trajectory including point-to-point straight line trapezoidal and constant speed circular motion.
Date of Conference: 16-20 July 2003