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Dynamic modeling and robust control of a 3-PRC translational parallel kinematic machine
Li Y.; Xu Q.
Source PublicationRobotics and Computer-Integrated Manufacturing

The dynamic modeling and robust control for a three-prismatic-revolute-cylindrical (3-PRC) parallel kinematic machine (PKM) with translational motion have been investigated in this paper. By introducing a mass distribution factor, the simplified dynamic equations have been derived via the virtual work principle and validated on a virtual prototype with the ADAMS software package. Based upon the established model, three dynamics controllers have been attempted on the 3-PRC PKM. The intuitive co-simulations with the combination of MATLAB/Simulink and ADAMS show that the control performance of neither inverse dynamics control nor robust inverse dynamics control is satisfactory in the presence of parametric uncertainties in PKM dynamics. On the contrary, the controller based on the passivity-based robust control scheme is more suitable for tracking control of the PKM in terms of both control performances and controller design procedures. The results presented in the paper provide a sound base for both the mechanical system design and control system design of a 3-PRC PKM. © 2008 Elsevier Ltd. All rights reserved.

KeywordInverse Dynamics Parallel Robots Robust Control Tracking Control
URLView the original
Indexed BySCI
WOS Research AreaComputer Science ; Engineering ; Robotics
WOS SubjectComputer Science, Interdisciplinary Applications ; Engineering, Manufacturing ; Robotics
WOS IDWOS:000265165200016
The Source to ArticleScopus
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Cited Times [WOS]:47   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
AffiliationDepartment of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Av. Padre Tomás Pereira, Taipa, Macao SAR, China
First Author AffilicationFaculty of Science and Technology
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GB/T 7714
Li Y.,Xu Q.. Dynamic modeling and robust control of a 3-PRC translational parallel kinematic machine[J]. Robotics and Computer-Integrated Manufacturing,2009,25(3):630.
APA Li Y.,&Xu Q..(2009).Dynamic modeling and robust control of a 3-PRC translational parallel kinematic machine.Robotics and Computer-Integrated Manufacturing,25(3),630.
MLA Li Y.,et al."Dynamic modeling and robust control of a 3-PRC translational parallel kinematic machine".Robotics and Computer-Integrated Manufacturing 25.3(2009):630.
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