Nonlinear Control of Planar Parallel Robots with Redundant Servopneumatic Actuators

摘要

Abstract In this paper a nonlinear control algorithm of a planar parallel robot with a redundant actuator configuration will be derived, based on exact linearization techniques. This controller achieves apart from standard degree of freedom decoupling and stabilization of the robot dynamics additional desired overconstraint control of the redundant actuators. This result has been achieved by suitably extending the output vector of the robot and by including an orthogonality relation into the controller design. Computer simulations prove the validity of this control concept.