Singular Value Decomposition Control of Electro-Hydraulically Driven Parallel Robot
This paper presented a novel control scheme for electro-hydraulically driven parallel robot, in order to improve control performance by eliminating the effect of system coupling in controller. The mathematical model of the electro-hydraulic parallel robot is formulated, including mechanical system and electro-hydraulic system, using Kane method and hydromechanics principle. The decoupled space is exploited for electro-hydraulic parallel robot by using singular value decomposition (SVD) approach. In the decoupled space, a simple but effective controller is developed with only actuator position as its feedback. Theoretical analysis and numerical simulation results show that the proposed control greatly overcomes the drawbacks of dynamic coupling in the workspace of parallel robot and exhibits excellent control performance, especially tracking performance.
Dongye Sun, Wen-Pei Sung and Ran Chen
C. F. Yang et al., "Singular Value Decomposition Control of Electro-Hydraulically Driven Parallel Robot", Applied Mechanics and Materials, Vols. 121-126, pp. 90-94, 2012