Modeling and trajectory tracking control of 6-DOF RSS type parallel manipulator

摘要

In this study, kinematic analysis of 6-DOF RSS parallel manipulator using Denavit Hartenbeng (D-H) method is investigated. In addition, in order to improve the proposed method, determination of all the active and passive angles, required to obtain Jacobian and complete dynamic model of manipulator, is also achieved. The effects of dynamic models of 6-DOF RSS parallel manipulator with its actuators on trajectory tracking control are studied in detail. Feedback dynamic compensation terms of motor-mechanism coupling system that is needed to compute torque control are obtained through both a single link approximation model and a complete dynamic model. The complete model is derived by taking account of the interaction between the input links and coupler links of the manipulator. Simulations showed that obtaining complete model of manipulator by means of D-H method and using computed control law could improve the quality of trajectory tracking control of parallel manipulator.