MODELING AND CONTROL OF A 3-DOF PARALLEL

WIRE DRIVEN FLEXIBLE MANIPULATOR

Sui Chunping  Zhang Bo  Zhao Mingyang  Liu Hongjun

(Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of  Science, Shenyang 110016)

Abstract: The control law of this kind of parallel flexible system is studied based on a 3-DOF parallel wire driven robot. In order to uniquely determine and easily measure the states of the manipulator, the variables of the constraint joints are used for describing the motion of the manipulator. Then, the kinematics and statics of the manipulator are studied, and a dynamic model of this parallel flexible system is established. Based on this model, the tracking control is studied. The controller is designed respectively based on a rigid model and the flexible model, and the performances of the controllers are analyzed, too. Finally, a simulation is made, and the results show that the performance of the rigid controller is bad, while the singular perturbation controller based on flexible model has good performance.

Key words: Parallel wire driven  Flexible robot  Singular perturbation  Two-time-scale control

CLC No: TP24

国家自然科学基金资助项目(50275143). Received 20040418, received in revised form 20041220