In this paper, we propose a control scheme of parallel manipulators focusing on the accuracy of acceleration on the end plate, an important factor when parallel manipulators are used as acceleration displays such as a driving simulator. In order to achieve a smooth and accurate acceleration on the end plate, we combine two controllers: A dynamic controller to achieve accuracy of the position and to stabilize the system, and an controller to feedback the acceleration of the end plate to cope with the unmodeled dynamics such as mechanical flexibility and friction. The main problem of dynamic control is computational complexity. We applied parallel processing to reduce the latency and realized real-time dynamic control. The designed controller is added outside the closed loop of dynamic control to remove the vibration of the structure and the influence of unmodeled dynamics.
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June 2005
Technical Papers
Parallel Dynamics Computation and Acceleration Control of Parallel Manipulators for Acceleration Display
Katsu Yamane,
Katsu Yamane
Department of Mechanical Sciences and Engineering,
Tokyo Institute of Technology
, 2-12-1 O-okayama, Meguro-ku, Tokyo 152-8552 Japan
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Yoshihiko Nakamura,
Yoshihiko Nakamura
Department of Mechanical Sciences and Engineering,
Tokyo Institute of Technology
, 2-12-1 O-okayama, Meguro-ku, Tokyo 152-8552 Japan
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Masafumi Okada,
Masafumi Okada
Department of Mechanical Sciences and Engineering,
Tokyo Institute of Technology
, 2-12-1 O-okayama, Meguro-ku, Tokyo 152-8552 Japan
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Noriaki Komine,
Noriaki Komine
Shimadzu Corporation
, 1 Nishi-no-kyo Kuwahara-cho, Nakagyo-ku, Kyoto, 604-8442 Japan
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Ken’ichi Yoshimoto
Ken’ichi Yoshimoto
National Defense Academy
, 1-10-20 Hashirimizu, Yokosuka-shi, Kanagawa 239-8686 Japan
Search for other works by this author on:
Katsu Yamane
Department of Mechanical Sciences and Engineering,
Tokyo Institute of Technology
, 2-12-1 O-okayama, Meguro-ku, Tokyo 152-8552 Japan
Yoshihiko Nakamura
Department of Mechanical Sciences and Engineering,
Tokyo Institute of Technology
, 2-12-1 O-okayama, Meguro-ku, Tokyo 152-8552 Japan
Masafumi Okada
Department of Mechanical Sciences and Engineering,
Tokyo Institute of Technology
, 2-12-1 O-okayama, Meguro-ku, Tokyo 152-8552 Japan
Noriaki Komine
Shimadzu Corporation
, 1 Nishi-no-kyo Kuwahara-cho, Nakagyo-ku, Kyoto, 604-8442 Japan
Ken’ichi Yoshimoto
National Defense Academy
, 1-10-20 Hashirimizu, Yokosuka-shi, Kanagawa 239-8686 JapanJ. Dyn. Sys., Meas., Control. Jun 2005, 127(2): 185-191 (7 pages)
Published Online: October 22, 2004
Article history
Received:
October 31, 2001
Revised:
October 22, 2004
Citation
Yamane, K., Nakamura, Y., Okada, M., Komine, N., and Yoshimoto, K. (October 22, 2004). "Parallel Dynamics Computation and Acceleration Control of Parallel Manipulators for Acceleration Display." ASME. J. Dyn. Sys., Meas., Control. June 2005; 127(2): 185–191. https://doi.org/10.1115/1.1898229
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