The Time-Optimal Control of the 4RRR Parallel Manipulator with Input Backlash

Abstract:

A time-optimal control of a 4RRR parallel manipulator with actuation redundancy is reported. A method using both redundant actuation and velocity planning is carried out to achieve the shortest moving time of the platform travelling through an assigned path without reducing precision caused by the backlashes in the actuators. The problem is simplified and an adaptive method of time-optimal control is designed based on the characteristics such as pre-coupling of time segments and decoupling of the redundant torques and time segments of this problem. The result demonstrates that this method can solve this problem with high speed. It serves as an example of both time-optimal control in robotics and multi-parameter optimization.

• Periodical: Applied Mechanics and Materials (Volumes 687-691)
• Pages: 616-622
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.687-691.616
• Online since: November 2014
• Authors: Liang Liang Zhang*, Yao Jiang, Tie Min Li
• Keywords: 4RRR Parallel Manipulator, Backlash, Redundant, Time-Optimal Control

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