Adaptive control of 6-DOF parallel manipulator

Qinglong Jin; Wenjie Chen

Adaptive control of 6-DOF parallel manipulator

Qinglong Jin^*
, Wenjie Chen

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology
Ministry of Education in China

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Citations (Scopus)

Abstract

This paper presents an adaptive controller equipped with disturbance rejection capability for a 6 degrees of freedom (6-DOF) parallel manipulator. The control scheme is proposed given that the 6-DOF parallel manipulator system's parameters are all subject to uncertainties, and only the positions and the velocities of links are measurable. In this paper, the dynamics of the 6-DOF parallel manipulator is denoted in the Lagrange method, and, as well as an appropriate storage function, some important properties of the dynamics are derived to develop an adaptive controller which, by the penalty signal chosen, can drive the motion tracking error to zero asymptotically. Lyapunov theory is used to guarantee the stability of the system. Simulation results show that the 6-DOF adaptive control system has a good tracking performance in both normal and extreme limited working conditions.

Original language	English
Title of host publication	Proceedings of the 30th Chinese Control Conference, CCC 2011
Pages	2440-2445
Number of pages	6
Publication status	Published - 2011
Event	30th Chinese Control Conference, CCC 2011 - Yantai, China Duration: 22 Jul 2011 → 24 Jul 2011

Publication series

Name	Proceedings of the 30th Chinese Control Conference, CCC 2011

Conference

Conference	30th Chinese Control Conference, CCC 2011
Country/Territory	China
City	Yantai
Period	22/07/11 → 24/07/11

Keywords

6-DOF Parallel Manipulator
Adaptive Control
Parameter Uncertainty

Cite this

@inproceedings{f3c63bfa5edc4b339d4be096f0377ff3,

title = "Adaptive control of 6-DOF parallel manipulator",

abstract = "This paper presents an adaptive controller equipped with disturbance rejection capability for a 6 degrees of freedom (6-DOF) parallel manipulator. The control scheme is proposed given that the 6-DOF parallel manipulator system's parameters are all subject to uncertainties, and only the positions and the velocities of links are measurable. In this paper, the dynamics of the 6-DOF parallel manipulator is denoted in the Lagrange method, and, as well as an appropriate storage function, some important properties of the dynamics are derived to develop an adaptive controller which, by the penalty signal chosen, can drive the motion tracking error to zero asymptotically. Lyapunov theory is used to guarantee the stability of the system. Simulation results show that the 6-DOF adaptive control system has a good tracking performance in both normal and extreme limited working conditions.",

keywords = "6-DOF Parallel Manipulator, Adaptive Control, Parameter Uncertainty",

author = "Qinglong Jin and Wenjie Chen",

year = "2011",

language = "English",

isbn = "9789881725592",

series = "Proceedings of the 30th Chinese Control Conference, CCC 2011",

pages = "2440--2445",

booktitle = "Proceedings of the 30th Chinese Control Conference, CCC 2011",

note = "30th Chinese Control Conference, CCC 2011 ; Conference date: 22-07-2011 Through 24-07-2011",

}

TY - GEN

T1 - Adaptive control of 6-DOF parallel manipulator

AU - Jin, Qinglong

AU - Chen, Wenjie

PY - 2011

Y1 - 2011

N2 - This paper presents an adaptive controller equipped with disturbance rejection capability for a 6 degrees of freedom (6-DOF) parallel manipulator. The control scheme is proposed given that the 6-DOF parallel manipulator system's parameters are all subject to uncertainties, and only the positions and the velocities of links are measurable. In this paper, the dynamics of the 6-DOF parallel manipulator is denoted in the Lagrange method, and, as well as an appropriate storage function, some important properties of the dynamics are derived to develop an adaptive controller which, by the penalty signal chosen, can drive the motion tracking error to zero asymptotically. Lyapunov theory is used to guarantee the stability of the system. Simulation results show that the 6-DOF adaptive control system has a good tracking performance in both normal and extreme limited working conditions.

AB - This paper presents an adaptive controller equipped with disturbance rejection capability for a 6 degrees of freedom (6-DOF) parallel manipulator. The control scheme is proposed given that the 6-DOF parallel manipulator system's parameters are all subject to uncertainties, and only the positions and the velocities of links are measurable. In this paper, the dynamics of the 6-DOF parallel manipulator is denoted in the Lagrange method, and, as well as an appropriate storage function, some important properties of the dynamics are derived to develop an adaptive controller which, by the penalty signal chosen, can drive the motion tracking error to zero asymptotically. Lyapunov theory is used to guarantee the stability of the system. Simulation results show that the 6-DOF adaptive control system has a good tracking performance in both normal and extreme limited working conditions.

KW - 6-DOF Parallel Manipulator

KW - Adaptive Control

KW - Parameter Uncertainty

UR - https://www.scopus.com/pages/publications/80053069061

M3 - Conference contribution

AN - SCOPUS:80053069061

SN - 9789881725592

T3 - Proceedings of the 30th Chinese Control Conference, CCC 2011

SP - 2440

EP - 2445

BT - Proceedings of the 30th Chinese Control Conference, CCC 2011

T2 - 30th Chinese Control Conference, CCC 2011

Y2 - 22 July 2011 through 24 July 2011

ER -

Adaptive control of 6-DOF parallel manipulator

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Keywords

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