Paper Title:
A Survey on Control of Parallel Manipulator
  Abstract

Based on extensive study on literatures of control of parallel manipulators and serial manipulators, control strategies such as computed torque control, PD+ control, PD with feedforward compensation, nonlinear adaptive control are classified into two categories: model-based control and performance-based control. Besides, as advanced control strategies, robust control and passivity-based control for the parallel manipulators are also introduced. Comparative study in view of computation burden and tracking performance are performed. It turned out that the physical structure properties of parallel manipulators’ dynamics are similar with that of serial ones, and this constitutes a common foundation for the two kinds of manipulators to develop together that control design of parallel manipulators can start with ever established control methods of serial manipulators.

  Info
Periodical
Edited by
Shen Dong and Yingxue Yao
Pages
307-313
DOI
10.4028/www.scientific.net/KEM.339.307
Citation
J.F. He, H.Z. Jiang, D.C. Cong, Z. M. Ye, J. W. Han, "A Survey on Control of Parallel Manipulator", Key Engineering Materials, Vol. 339, pp. 307-313, 2007
Online since
May 2007
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