Redundancy resolution and control of a novel spatial parallel mechanism with kinematic redundancy

摘要

In this paper, a spatial kinematically redundant parallel mechanism consisting of three base prismatic actuators and six lateral prismatic actuators which control the six task space degrees of freedom is proposed. The main objective is to introduce a real-time redundancy resolution to actuate kinematically redundant parallel mechanisms. In the proposed method, the redundant coordinates are determined in such a way to improve the dynamic performance of the mechanism for tracking a given trajectory in order to avoid singular configurations. An inverse dynamic control strategy with a non-linear disturbance observer is designed. Kinematics and dynamics of the proposed mechanism are investigated and the control algorithm is implemented for motion control of the introduced mechanism. The effectiveness of the proposed controller is demonstrated through numerical simulations. (C) 2018 Published by Elsevier Ltd.