Paper Title:
Hybrid Force/Position Control Investigation of Parallel Machine Tool with Redundant Actuation
  Abstract

A novel redundantly actuated parallel machine tool was introduced. The inverse kinematic of 5-UPS/PRPU PMT with redundant actuation was analysed and the driven force of redundant actuation limb was planned. The force/position hybrid control strategy and dynamic differential calculation control strategy were proposed. Then the experiment of evaluating dynamics in the position control mode and in the force/position hybrid control was carried out respectively. The experiment shows that, the force/position hybrid control can improve driven torque of each limb better, balance the load of each limb and is of great help for enhance the dynamic performance of entire PMT.

  Info
Periodical
Chapter
Chapter 4: Mechatronics and Information
Edited by
Dongye Sun, Wen-Pei Sung and Ran Chen
Pages
2040-2044
DOI
10.4028/www.scientific.net/AMM.121-126.2040
Citation
H. T. Tang, J. T. Yao, L. Cheng, Y. S. Zhao, "Hybrid Force/Position Control Investigation of Parallel Machine Tool with Redundant Actuation", Applied Mechanics and Materials, Vols. 121-126, pp. 2040-2044, 2012
Online since
October 2011
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Price
$32.00
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