The Applications of Compliant Motion Control Technique on 6-DOF Hydraulic Parallel Mechanism
| Autor: | Dacheng Cong, Xinjian Niu, Changhong Gao, Junwei Han, Shupeng Zheng |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: |
Scheme (programming language)
Compliant motion control General Computer Science Computer science General Engineering force control Motion control Motion (physics) interaction control Mechanism (engineering) Position (vector) Control theory hydraulic parallel mechanism hydraulic control system Redundancy (engineering) Six degrees of freedom Earthquake shaking table General Materials Science lcsh:Electrical engineering. Electronics. Nuclear engineering computer lcsh:TK1-9971 computer.programming_language |
| Zdroj: | IEEE Access, Vol 7, Pp 90094-90105 (2019) |
| ISSN: | 2169-3536 |
| Popis: | Most interaction control formulations focused on electrically driven parallel mechanism. In this paper, the combining practice applications of compliant motion control technique on six degrees of freedom (6-DOF) hydraulic parallel mechanism (HPM) are investigated. According to the manipulation task specification and hydraulic control system characteristics, three different compliant motion control schemes are presented in three typical application scenarios, respectively: a parallel position/force control scheme in the joint space coordinate for train curve negotiation performance test, a hybrid position/force control scheme with the internal force suppression for shaking table with actuation redundancy, and a hybrid impedance control scheme for auto-docking mechanism based on force and vision. The feasibility and effectiveness of the proposed schemes were verified through a series of experiments. It showed that the 6-DOF HPM achieves good compliant behavior by applying the proposed compliant motion control techniques. These schemes could also be extended to other applications where the compliant motion of the 6-DOF HPM is required. |
| Databáze: | OpenAIRE |
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