Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Friction Force Compensation for Actuators of a Parallel Manipulator Using Gravitational Force

중력을 이용한 병렬형 머니퓰레이터 구동부의 마찰력 보상

  • 이세한 (경남대학교 기계자동화공학부) ;
  • 송재복 (고려대학교 기계공학과)
  • Published : 2005.07.01
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Abstract

Parallel manipulators have been used for a variety of applications, including the motion simulators and mechanism for precise machining. Since the ball screws used for linear motion of legs of the Stewart-Gough type parallel manipulator provide wider contact areas than revolute joints, parallel manipulators are usually more affected by frictional forces than serial manipulators. In this research, the method for detecting the frictional forces arising in the parallel manipulator using the gravitational force is proposed. First, the reference trajectories are computed from the dynamic model of the parallel manipulator assuming that it is subject to only the gravitational force without friction. When the parallel manipulator is controlled so that the platform follows the computed reference trajectory, this control force for each leg is equal to the friction force arising in each leg. It is shown that control performance can be improved when the friction compensation based on this information is added to the controller for position control of the moving plate of a parallel manipulator.

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References

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