The Research In Motion Control Of 2-DOF Redundantly Actuated Plane Parallel Manipulator

With the development of automated and intellectualized equipment used in procreative activity of humanity,its motion control becomes problem urgently to have to solve in the automatic control. This dissertation focuses on the motion control of the plane motion machines. A 2-DOF redundantly actuated plane parallel manipulator is used as example.Many scholars have done some research on the redundancy of parallel manipulators, but there is not a systemic theory yet, many problems are still to be solved, especially in dynamic motion control of parallel manipulator. This paper will do some helpful research in this area. First, the plane 2-DOF redundantly actuated parallel mechanism performance is analyzed. And the kinematic equation of parallel manipulator is established through the analysis of parallel machine geometry structure and constraints. Kinematic transmission relation between joint space and work space is also obtained.Next, according to the serial kinematic chain and the tree system model and the D'Alembert Lagrange's Formulation, dynamic equation of the 2-DOF redundantly actuated plane parallel manipulator has produced. Using pseudo-inverse method optimizes the actuating torque. And the accuracy of dynamics model is further enhanced by the on-line system identification.At last, the coordinate system motion control, the kinematics feedback control and dynamics control research have been studied. Control strategies, such as the joint space PD control algorithm, the working space PD control algorithm and the computed torque control algorithm as well as the robust control algorithm are applied to the redundant parallel mechanism. High speed performance and the position tracking accuracy of the 2-DOF redundant actuation plane parallel manipulator system are analyzed through simulation and experiment.