Force/Position Cooperative Control for 6-DOF Parallel Platform

Hai Hai Li; Kuang Rong Hao; Yong Sheng Ding

doi:10.4028/www.scientific.net/AMR.479-481.1790

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 479-481Force/Position Cooperative Control for 6-DOF...

Force/Position Cooperative Control for 6-DOF Parallel Platform

Abstract:

when the robot works in an uncertain environment, the interaction force can affect the control system performance and damage control targets, so this paper proposed a Generalized Predictive Control (GPC) algorithm, using multi-sensor fusion with force and position sensors to complete force/position synergic control. The control strategy can guarantee the tracking accuracy of the position and force and make the end-effector move along the constraint surface with a desired contact force. Simulation results of 6-DOF parallel platform reveal the high accuracy of position and force tracking control, meanwhile the robot has strong ability to adapt uncertain environments.

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Periodical:

Advanced Materials Research (Volumes 479-481)

Pages:

1790-1794

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.479-481.1790

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Online since:

February 2012

Authors:

Hai Hai Li, Kuang Rong Hao, Yong Sheng Ding

Keywords:

6-DOF Parallel Platform, Force/position Synergic Control, Generalized Predictive Control (GPC)

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