Control of parallel mechanism with redundant actuators and non-redundant actuators

Tatsuro Hino; Michihiro Kawanishi; Hiroshi Kanki; Tatsuo Narikiyo

doi:10.1117/12.784508

9 January 2008 Control of parallel mechanism with redundant actuators and non-redundant actuators

Tatsuro Hino, Michihiro Kawanishi, Hiroshi Kanki, Tatsuo Narikiyo

Proceedings Volume 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials; 67942X (2008) https://doi.org/10.1117/12.784508
Event: ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 2007, Gifu, Japan

Abstract

In parallel mechanisms with redundant actuators, actuator forces are underspecified because of redundancy. In this paper, the method to minimize a maximum actuator force was proposed. At first, parallel mechanism with two redundant actuators and Stewart platform model using the linear shaft motor were developed. This redundant parallel mechanism was consists of Stewart platform and additional 2 redundant actuators. Inverse dynamics of each mechanisms were formulated. Secondly, effectiveness of dynamic control of Stewart platform was experimentally confirmed. Finally, the method to minimize a maximum actuator force using Linear Matrix Inequality (LMI) was proposed. And the effectiveness of the proposed method was confirmed by simulation.

Citation Download Citation

Tatsuro Hino, Michihiro Kawanishi, Hiroshi Kanki, and Tatsuo Narikiyo "Control of parallel mechanism with redundant actuators and non-redundant actuators", Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 67942X (9 January 2008); https://doi.org/10.1117/12.784508

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