Referenced Items are not available for this document.
Decentralized individual control is still the state of the art in industrial applications. While redundantly actuated parallel kinematic machine (RA-PKM) possess desirable kinematic and dynamic properties, their control is impeded by the occurrence of antagonistic control forces. Such antagonistic forces are inherent to the decentralized control of RA-PKM that, together with calibration errors and finite encoder resolutions, causes antagonistic control forces and excited vibrations, and, hence, energy loss and instabilities. The effect of measurement errors and the stability of individual PD control are analyzed in this paper. The central result is a projection method for the elimination of contradicting control commands, which is applicable to general decentralized control schemes. Experimental results are presented for a 2RRR/RR implementation. The results confirm that the proposed method reduces antagonistic control forces up to measurement errors and model uncertainties.
Published in:
Robotics, IEEE Transactions on
(Volume:28
,
Issue:
3
)
Date of Publication: June 2012
- Page(s):
- 723 - 728
- ISSN :
- 1552-3098
- INSPEC Accession Number:
- 12769218
- Digital Object Identifier :
- 10.1109/TRO.2012.2187100
- Product Type:
- Journals & Magazines
- Date of Publication :
- 27 February 2012
- Date of Current Version :
- 01 June 2012
- Issue Date :
- June 2012
- Sponsored by :
- IEEE Robotics and Automation Society
About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies
A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2013 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.
