Modelling, simulation and control of a redundant parallel robotic manipulator based on invariant manifolds

M. Manderla, D. Schmitt and U. Konigorski

Mathematical and Computer Modelling of Dynamical Systems, 2010, vol. 16, issue 2, 95-113

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.

Date: 2010
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DOI: 10.1080/13873951003738250

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