Simple Optimal Tracking Control for a Class of Closed-Chain Mechanisms in Task Space

摘要

In this work an optimal tracking control in task space for slider-crank mechanisms is presented. To guarantee the tracking task it is required the complete knowledge of mechanism non-linear dynamics for the optimal control design, however the complete dynamics is not always available and linearization methods may lose many information. From the extended dynamic model of parallel robots, it can be seen that a linear system based on the slider dynamics can be obtained without any kind of linearization. This approach avoids the complete knowledge of the mechanism dynamics. Experiments are made to verify and compare the performance of the simplified model with the complete linearized dynamics model using the linear quadratic tracking (LQT) and sliding mode control (SMC).