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Two-time scale controller design for a high speed planar parallel manipulator with structural flexibility

Published online by Cambridge University Press:  06 September 2002

Bongsoo Kang ,
Benny Yeung  and
James K. Mills
Bongsoo Kang
Affiliation:
Department of Mechanical and Industrial Engineering, University of Toronto, 5 King's College Road, Toronto, Ontario (Canada) M5S 3G8
Benny Yeung
Affiliation:
Department of Mechanical and Industrial Engineering, University of Toronto, 5 King's College Road, Toronto, Ontario (Canada) M5S 3G8
James K. Mills*
Affiliation:
Department of Mechanical and Industrial Engineering, University of Toronto, 5 King's College Road, Toronto, Ontario (Canada) M5S 3G8
*
*Corresponding Author: Professor James K. Mills, Department of Mechanical and Industrial Engineering, University of Toronto, 5 King’s College Road, Toronto, Ontario (Canada) M5S 3G8. mills@mie.utoronto.ca
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Summary

Planar parallel manipulators, with potential applications in high speed, high acceleration tasks such as electronic component placement, would be subject to mechanical vibration due to high inertial forces acting on the linkages and other components. To achieve high throughput capability, such motion induced vibration would have to be damped quickly, to reduce settling time of the platform position and orientation. This paper develops a two-time scale dynamic model of a three-degree-of-freedom planar parallel manipulator with structurally flexible linkages. Based on the two-time scale model, a composite controller, consisting of a computed torque controller for the slow time-scale or rigid body subsystem dynamics, and a linear-quadratic state-feedback regulator for the fast time-scale flexible dynamic subsystem, is designed. Simulation results show that the composite control scheme permits the parallel manipulator platform to follow a given desired trajectory, while damping structural vibration arising due to excitation from inertial forces.

Keywords

High speedPlanar parallel manipulatorStructural flexibilityComposite control
Type
Research Article
Information
Robotica , Volume 20 , Issue 5 , September 2002 , pp. 519 - 528
Copyright
Copyright © Cambridge University Press 2002

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