Modelling,simulation and control of a redundant parallel robotic manipulator based on invariant manifolds |
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| Authors: | M. Manderla D. Schmitt U. Konigorski |
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| Affiliation: | 1. Laboratory of Control Engineering and Mechatronics , Technische Universit?t Darmstadt , Darmstadt, Germany mmanderla@iat.tu-darmstadt.de;3. Laboratory of Control Engineering and Mechatronics , Technische Universit?t Darmstadt , Darmstadt, Germany |
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| Abstract: | In this article a systematic approach of modelling and control for a parallel robotic manipulator is presented. Regarding the framework of structured analysis of dynamical systems the derivation of a differential-algebraic model of the mechanical system is straightforward. Using some differential-geometric considerations based on invariant manifolds and the definition of fictitious additional input and output variables a suitable state feedback can be constructed which transforms the differential-algebraic representation into a state-space model for the robotic manipulator. On this basis a classical two-degree-of-freedom (2-DOF) control structure has been designed using the well-known input–output linearization and a linear time-variant Kalman filter-based output feedback. Finally, the control structure including a friction compensation is applied to the robotic system in the laboratory which shows the practical applicability of the proposed procedure. |
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