Robust control system for parallel kinematics robotic manipulator

摘要

This paper deals with the designing of robust trajectory tracking controller for parallel kinematics robotic manipulators that can be used for nonprehensile material handling and dynamic simulators in industrial and medical applications. The controller design is based on output control algorithm for structurally and parametrically uncertain systems called consecutive compensator. Controller performance is verified for the task of moving a ball along circular reference trajectories. Only ball coordinates on a plane are measured, but not its velocities and accelerations, while noise in measurements is assumed to be serial uncorrelated with zero mean. Taking into account control magnitude constraints, we implemented an anti-windup correction for the control law. The experimental validation is performed by a parallel manipulator ball-and-plate with tactile feedback.