Newton-Euler method for dynamic modeling and control of parallel polishing manipulator

Using parallel manipulator into free-form surface polishing process has become a kind of trend, the parallel polishing manipulator system with dynamic feed-forward control which can improve the system response speed and control precision. This will guarantee the practical application and commerciall...

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Bibliographic Details
Published in2017 IEEE International Conference on Information and Automation (ICIA) pp. 1121 - 1126
Main Authors Ying Wang, Zhihuai Mao, Weryang Lin, Wen Wei, Jufan Zhang
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.07.2017
Subjects
Acceleration
Automation
Conferences
dynamics
Indexes
Manipulator dynamics
MATLAB
Parallel manipulator
surface polishing
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Summary:Using parallel manipulator into free-form surface polishing process has become a kind of trend, the parallel polishing manipulator system with dynamic feed-forward control which can improve the system response speed and control precision. This will guarantee the practical application and commercially of the parallel polishing machine tool. This paper bases on five degree of freedom parallel polishing manipulator, established D-H coordinate system for each leg, and then built up the dynamics equations by Newton-Euler method. Designed the computed torque controller and simulated respective in MATLAB.
DOI:10.1109/ICInfA.2017.8079070