Integration of saturated PI synchronous control and PD feedback for control of parallel manipulators

@article{Su2006IntegrationOS,
  title={Integration of saturated PI synchronous control and PD feedback for control of parallel manipulators},
  author={Yuxin Su and Dong Sun and Lu Ren and James K. Mills},
  journal={IEEE Transactions on Robotics},
  year={2006},
  volume={22},
  pages={202-207}
}
High-precision motion of parallel manipulators depends not only on the position accuracy of each actuator, but also on the position synchronization of all actuators. This paper presents a simple synchronized control algorithm for the setpoint position control of parallel manipulators, by incorporating cross-coupling technology into a common proportional-derivative (PD) control architecture. An integrated controller is developed, consisting of a PD control and a saturated proportional-integral… CONTINUE READING
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