Acceleration feedback control of a five-bar parallel manipulator

This paper presents a new acceleration feedback controller for a five-bar parallel manipulator without acceleration sensors. The acceleration signals are estimated based on the closed-loop constraint equation of the kinematic chains in the parallel manipulator. The acceleration feedback control law is designed by using the high-gains, and the stability of the closed-loop control system is proved by the Lyapunov method. The advantages of the acceleration feedback controller are validated on a five-bar parallel manipulator platform, and the experimental results are compared with the PD controller without acceleration feedback loop.