Dynamic analysis and model-based feedforward control of a 2-DoF translational parallel manipulator driven by linear motors

Purpose – Based on the inverse kinematics and task space dynamic model, this paper aims to design a high-precision trajectory tracking controller for a 2-DoF translational parallel manipulator (TPM) driven by linear motors. Design/methodology/approach – The task space dynamic model of a 2-DoF TPM is derived using Lagrangian equation of the first type. A task space dynamic model-based feedforward controller (MFC) is designed, which is combined with a cascade PID/PI controller and velocity feedforward controller (VFC) to construct a hybrid PID/PI+VFC/MFC controller. The hybrid controller is implemented in MATLAB/dSPACE real-time control platform. Experiment results are given to validate the effectiveness and industrial applicability of the hybrid controller. Findings – The MFC can compensate for the nonlinear dynamic characteristics of a 2-DoF TPM and achieve better tracking performance than the conventional acceleration feedforward controller (AFC). Originality/value – The task space dynamic model-based hy...

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