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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 110-116Performance Analysis of the Computed Torque Based...

Performance Analysis of the Computed Torque Based Active Force Control for a Planar Parallel Manipulator

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Abstract:

This paper presents a novel approach to control a 3-RRR (revolute-revolute-revolute) planar parallel manipulator applying an active force control (AFC) strategy. A PID-based computed torque controller (CTC) was first designed and developed to demonstrate the basic and stable response of the manipulator in order to follow a prescribed trajectory. Then, the AFC part was incorporated into the control scheme in series with the CTC (AFC-CTC) in a cascade form. Performance of the system was demonstrated by the computer simulation results. By using the AFC method, the design of trajectory tracking controller can be conducted based on a precise model of the system. The overall tracking performance was improved with using AFC scheme in presence of known or unknown disturbances. Results clearly illustrate the robustness and effectiveness of the proposed AFC-based scheme as a robust disturbance rejecter compared to the conventional CT controller.

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Mechanical and Aerospace Engineering, ICMAE2011

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Periodical:

Applied Mechanics and Materials (Volumes 110-116)

Pages:

4932-4940

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.110-116.4932

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Cite this paper

Online since:

October 2011

Authors:

Amin Noshadi, Ali Zolfagharian, Gang Wang

Keywords:

Active Force Control, Computed Torque Control, Planar Parallel Manipulator

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