Active Joint Synchronization Control for a 2-DOF Redundantly Actuated Parallel Manipulator

摘要

This brief applies the synchronization to solve control problem of redundantly actuated parallel manipulators. With the synchronization method, a new controller termed active joint-synchronization (AJ-S) controller is developed for a 2-degree-of-freedom (DOF) redundantly actuated parallel manipulator. The dynamic model of the parallel manipulator is formulated in the active joint space, in which the internal force is calculated by the projection method and the friction is depicted with the Coulomb $+$ viscous friction model. By defining the tracking error, synchronization error, coupled error, and the referenced trajectory vector of the active joints, the AJ-S controller based on the dynamic model is designed. And the AJ-S controller is proven to guarantee asymptotic convergence to zero of both tracking and synchronization errors by the Barbalat's lemma. The AJ-S controller is implemented in the trajectory tracking experiments of an actual 2-DOF redundantly actuated parallel manipulator, and the superiority of the AJ-S controller over the well-known tracking controller is studied.