{"title":"On the effect of structural elasticity on the stability and performance of parallel manipulators","authors":"M. Wahle, B. Corves","doi":"10.1109/ICRA.2013.6630829","DOIUrl":null,"url":null,"abstract":"This work deals with the control design and control simulation for a parallel structure with reduced degrees of freedom. Firstly, a novel coupled PD-control algorithm which yields uniform eigenfrequencies and properties in all directions of motion is introduced. The results of the linear model are compared to automated MBS-simulations. Afterwards, the stability range is compared to the actual measured stability range which is much smaller. Elasticity effects due to the platform and the joint stiffness are implemented in the MBS-model and evaluated. In the last step, we compare the simulated stability regions of the updated MBS-models to the measured boundaries.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"36 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2013 IEEE International Conference on Robotics and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICRA.2013.6630829","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
This work deals with the control design and control simulation for a parallel structure with reduced degrees of freedom. Firstly, a novel coupled PD-control algorithm which yields uniform eigenfrequencies and properties in all directions of motion is introduced. The results of the linear model are compared to automated MBS-simulations. Afterwards, the stability range is compared to the actual measured stability range which is much smaller. Elasticity effects due to the platform and the joint stiffness are implemented in the MBS-model and evaluated. In the last step, we compare the simulated stability regions of the updated MBS-models to the measured boundaries.
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