Integrated design and PD Control of high-speed closed-loop mechanisms

The performance of an electromechanical system not only depends on its controller design, but also on the design of its mechanical structure. In order to achieve the excellent performance of the four-bar-link mechanism byemploying the simple PD control, we redesign the structure of the four-bar-link mechanism by a mass-redistribution scheme to simplify the dynamic model. Theoretically, we analyze the stability of the closed-loop system consisting of the PD controller and several kinds of four-bar-link mechanisms, and discuss the relations between the performance of the PD controller and its gains and the mechanical design. The obtained results show that the performance of the PD controller may be significantly improved by using the methodology of Design For Control (DFC). The effectiveness of the proposed methodology has also been verified by some simulation studies.

[1]  Romeo Ortega,et al.  Adaptive motion control of rigid robots: a tutorial , 1988, Proceedings of the 27th IEEE Conference on Decision and Control.

[2]  F. Ghorbel,et al.  A validation study of PD control of a closed-chain mechanical system , 1997, Proceedings of the 36th IEEE Conference on Decision and Control.

[3]  Phillip Barkan,et al.  Kinematics and Dynamics of Planar Machinery , 1979 .

[4]  S. Doughty.  Mechanics of Machines , 1988 .

[5]  Wen-Jun Zhang,et al.  Integrated design of mechanical structure and control algorithm for a programmable four-bar linkage , 1999 .

[6]  C. Gosselin.  Parallel Computational Algorithms for the Kinematics and Dynamics of Planar and Spatial Parallel Manipulators , 1996 .

[7]  F. L. Lewis,et al.  Robust Control for the Tracking of Robot Motion , 1990, 1990 American Control Conference.

[8]  S. Shankar Sastry,et al.  Adaptive Control of Mechanical Manipulators , 1987 .

[9]  Richard M. Murray,et al.  A Mathematical Introduction to Robotic Manipulation , 1994 .

[10]  H. Diken,et al.  Trajectory control of mass balanced manipulators , 1997 .

[11]  Kamal Youcef-Toumi,et al.  High speed trajectory control of a direct-drive manipulator , 1987, 26th IEEE Conference on Decision and Control.

[12]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[13]  Jian-Shiang Chen,et al.  Experiments toward MRAC design for linkage system , 1996 .

[14]  H. Harry Asada,et al.  Direct-Drive Robots: Theory and Practice , 1987 .

[15]  J. P. Sadler,et al.  Constant speed control of a motor driven mechanism system , 1995 .

[16]  Fathi H. Ghorbel,et al.  PD Control of Closed-Chain Mechanical Systems: An Experimental Study , 1997 .

[17]  John J. Craig,et al.  Introduction to Robotics Mechanics and Control , 1986 .