|
Abstract: A
3-DOF hybrid parallel-serial robotic manipulator which is constructed by
combining a parallel mechanism and a pantograph is introduced to
increase high stiffness as well as workspace, based on the fact that
parallel mechanism has higher stiffness but smaller workspace. Dynamics
equation is established by applying Lagrange’s method and its feature is
discussed. Then a robust control scheme for the robot is developed. The
proposed controller which is designed in Cartesian coordinates consists
of two parts. The first part is the model-based computed torque
controller which is used to stabilize the nominal robot system. The
second part is a robust compensating controller which is designed to
handle the uncertainty in the system. The theory analysis and simulation
results show that using this controller, the robot tracking performance
can be improved effectively.
Key
words: Hybrid
parallel-serial robot Robust control Lyapunov method
CLC No: TH112
Received 20050802,
received in revised form 20060116
|