TY - GEN
T1 - Acceleration feedback control of a harmonic drive parallel robot
AU - Liu, Yanjie
AU - Sun, Lining
AU - Meng, Qingxin
PY - 2004
Y1 - 2004
N2 - This paper presents a new 2-DOF planar parallel robot with high speed and high precision. Harmonic drive is adopted between an AC servomotor and its driven link in each drive joint, and at the same time a rotary encoder feeds the driven link angle into the position controller of each drive joint. Thus, the resolution of the drive joint is improved greatly. However, flexibility of harmonic drive during high-speed motion causes the sharp elastic vibration. Therefore, an acceleration feedback controller is especially designed to increase the damping coefficient and restrain the elastic vibration. Furthermore, the stability of the entire system including the drive joint's position controller and the acceleration feedback controller is proved using a Lyapunov approach. The experiments of trajectory tracking are conducted on the robotic system, and the results validate the proposed control algorithm, contrasted with that obtained by classical PD control without the acceleration feedback loop.
AB - This paper presents a new 2-DOF planar parallel robot with high speed and high precision. Harmonic drive is adopted between an AC servomotor and its driven link in each drive joint, and at the same time a rotary encoder feeds the driven link angle into the position controller of each drive joint. Thus, the resolution of the drive joint is improved greatly. However, flexibility of harmonic drive during high-speed motion causes the sharp elastic vibration. Therefore, an acceleration feedback controller is especially designed to increase the damping coefficient and restrain the elastic vibration. Furthermore, the stability of the entire system including the drive joint's position controller and the acceleration feedback controller is proved using a Lyapunov approach. The experiments of trajectory tracking are conducted on the robotic system, and the results validate the proposed control algorithm, contrasted with that obtained by classical PD control without the acceleration feedback loop.
UR - https://www.scopus.com/pages/publications/11244260876
M3 - 会议稿件
AN - SCOPUS:11244260876
SN - 0780386469
SN - 9780780386464
T3 - 2004 IEEE Conference on Robotics, Automation and Mechatronics
SP - 390
EP - 395
BT - 2004 IEEE Conference on Robotics, Automation and Mechatronics
T2 - 2004 IEEE Conference on Robotics, Automation and Mechatronics
Y2 - 1 December 2004 through 3 December 2004
ER -