Supervisory control of a macro-micro parallel manipulator system

In order to achieve the high motion precision of the macro-micro parallel manipulator system for a radio telescope, a decoupled tracking and prediction algorithm based on principles of parallel mechanisms is presented. Then the adaptive interaction PID controller, which utilizes the adaptive interaction algorithm to tune the parameters of a canonical PID controller, is proposed as the supervisory controller in the joint space of the Stewart platform. Additionally, the digital servo filters with feedforward are employed in the lower level of the electrical cylinders. Experimental results validate the high precision of the macro-micro parallel manipulator system wit supervisory controller and the motion prediction algorithm.

[1]  D. J. Trudnowski,et al.  Vibration control of a micro/macro-manipulator system , 1996 .

[2]  Heidar Ali Talebi,et al.  Control of a rigid manipulator mounted on a compliant base , 2005, Robotica.

[3]  Heidar Ali Talebi,et al.  A Fuzzy Lyapunov-Based Control Strategy for a Macro–Micro Manipulator: Experimental Results , 2007, IEEE Transactions on Control Systems Technology.

[4]  Dasgupta Bhaskar,et al.  A Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator , 1998 .

[5]  Inna Sharf.  Active damping of a large flexible manipulator with a short-reach robot , 1995, Proceedings of 1995 American Control Conference - ACC'95.

[6]  R. Nan.  Five hundred meter aperture spherical radio telescope (FAST) , 2006 .

[7]  Feng Lin,et al.  Supervised learning in neural networks without feedback network , 1996, Proceedings of the 1996 IEEE International Symposium on Intelligent Control.

[8]  Shaowen Fu,et al.  Comments on “A Newton–Euler formulation for the inverse dynamics of the Stewart platform manipulator” by B. Dasgupta and T.S. Mruthyunjaya [Mech. Mach. Theory 33 (1998) 1135–1152] , 2007 .

[9]  Jun Zou.  APPLICATION OF ADAPTIVE INTERACTION PID CONTROLLER IN HYDRAULIC SERVO SYSTEM , 2006 .

[10]  R. D. Brandt,et al.  Self-tuning of PID controllers by adaptive interaction , 2000, Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334).

[11]  Yunfeng Wang,et al.  A direct numerical solution to forward kinematics of general Stewart–Gough platforms , 2006, Robotica.

[12]  B. Y. Duan.  A new design project of the line feed structure for large spherical radio telescope and its nonlinear dynamic analysis , 1999 .

[13]  Neville Hogan,et al.  The macro/micro manipulator : an improved architecture for robot control , 1993 .

[14]  Woosoon Yim,et al.  Nonlinear Inverse and Predictive End Point Trajectory Control of Flexible Macro-Micro Manipulators , 1996 .

[15]  Wayne J. Book,et al.  Filtering micro-manipulator wrist commands to prevent flexible base motion , 1995, Proceedings of 1995 American Control Conference - ACC'95.

[16]  Lynnane E. George,et al.  Active vibration control of a flexible base manipulator , 2002 .

[17]  J. Lin,et al.  A novel PID control parameters tuning approach for robot manipulators mounted on oscillatory bases , 2007, Robotica.

[18]  R. V. Patel,et al.  Neural network based tracking control of a flexible macro-micro manipulator system , 2003, Neural Networks.

[19]  B. Y. Duan,et al.  Dynamic modeling and active control of a cable-suspended parallel robot , 2008 .