• CN: 11-2187/TH
  • ISSN: 0577-6686

Journal of Mechanical Engineering ›› 2019, Vol. 55 ›› Issue (11): 46-52.doi: 10.3901/JME.2019.11.046

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Active Joint Synchronization Control of a 2(3PUS+S) Parallel Robot with Consideration of Force Compensation

SHAN Xianlei1,2, CHENG Gang1, CHEN Shibiao1   

  1. 1. School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116;
    2. Key Laboratory of Mechanism Theory and Equipment Design of the State Education Ministry, Tianjin University, Tianjin 300350
  • Received:2018-10-12 Revised:2019-04-02 Online:2019-06-05 Published:2019-06-05

Abstract: For joint space control of parallel robots, motion control accuracy is not only affected by the structural error and friction, but also by the coupling and motion coordination of the active joints due to the characteristics of the closed chain structure. Studies on active joint synchronization control of a 2(3PUS+S) parallel robot are conducted based on the early study on error and friction compensation. With the help of an established dynamic model based on joint space, the coupling force caused by inertia coupling is calculated. The synchronization error is defined by the motion coordination between active joints, and then, active joint synchronization control strategy is designed based on augmented PD control theory. On the base of the correction of structural error, the coupling force and friction are compensated by feedforward compensation. The last but not the least, the effectiveness of the control strategy is verified based on the control experiments. The proposed active joint synchronization control strategy with consideration of force compensation is of great importance to improve the motion control accuracy of parallel robots.

Key words: dynamics, force compensation, joint space, parallel robot, synchronization control

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