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TECHNICAL PAPERS

Parallel Dynamics Computation and H Acceleration Control of Parallel Manipulators for Acceleration Display

[+] Author and Article Information
Katsu Yamane, Yoshihiko Nakamura, Masafumi Okada

Department of Mechanical Sciences and Engineering,  Tokyo Institute of Technology, 2-12-1 O-okayama, Meguro-ku, Tokyo 152-8552 Japan

Noriaki Komine

 Shimadzu Corporation, 1 Nishi-no-kyo Kuwahara-cho, Nakagyo-ku, Kyoto, 604-8442 Japan

Ken’ichi Yoshimoto

 National Defense Academy, 1-10-20 Hashirimizu, Yokosuka-shi, Kanagawa 239-8686 Japan

J. Dyn. Sys., Meas., Control 127(2), 185-191 (Oct 22, 2004) (7 pages) doi:10.1115/1.1898229 History: Received October 31, 2001; Revised October 22, 2004

In this paper, we propose a control scheme of parallel manipulators focusing on the accuracy of acceleration on the end plate, an important factor when parallel manipulators are used as acceleration displays such as a driving simulator. In order to achieve a smooth and accurate acceleration on the end plate, we combine two controllers: A dynamic controller to achieve accuracy of the position and to stabilize the system, and an H controller to feedback the acceleration of the end plate to cope with the unmodeled dynamics such as mechanical flexibility and friction. The main problem of dynamic control is computational complexity. We applied parallel processing to reduce the latency and realized real-time dynamic control. The designed H controller is added outside the closed loop of dynamic control to remove the vibration of the structure and the influence of unmodeled dynamics.

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Copyright © 2005 by American Society of Mechanical Engineers
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Figures

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Figure 1

A parallel mechanism with rotational joints

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Figure 2

Block diagram of dynamic control

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Figure 3

Forming S and W from Gi

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Figure 4

Unifying parallel-computation part

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Figure 5

The parallel manipulator used for the experiments

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Figure 6

Scheduling of the threads

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Figure 7

End plate position in vertical motion

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Figure 8

End plate position in circular motion

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Figure 9

Acceleration measured on the end plate in vertical motion

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Figure 10

Bode plot of vertical direction system

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Figure 11

Acceleration feedback system

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Figure 12

Measured acceleration in vertical motion with feedback

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Figure 13

Response to sinusoidal input without acceleration feedback

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Figure 14

Response to sinusoidal input with acceleration feedback

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