Hybrid Force/Position Control Investigation of Parallel Machine Tool with Redundant Actuation
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.
Dongye Sun, Wen-Pei Sung and Ran Chen
H. T. Tang et al., "Hybrid Force/Position Control Investigation of Parallel Machine Tool with Redundant Actuation", Applied Mechanics and Materials, Vols. 121-126, pp. 2040-2044, 2012