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Synchronous tracking control of 6-DOF hydraulic parallel manipulator using cascade control method

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Abstract

The synchronous tracking control problem of a hydraulic parallel manipulator with six degrees of freedom (DOF) is complicated since the inclusion of hydraulic elements increases the order of the system. To solve this problem, cascade control method with an inner/outer-loop control structure is used, which masks the hydraulic dynamics with the inner-loop so that the designed controller takes into account of both the mechanical dynamics and the hydraulic dynamics of the manipulator. Furthermore, a cross-coupling control approach is introduced to the synchronous tracking control of the manipulator. The position synchronization error is developed by considering motion synchronization between each actuator joint and its adjacent ones based on the synchronous goal. Then, with the feedback of both position error and synchronization error, the tracking is proven to guarantee that both the position errors and synchronization errors asymptotically converge to zero. Moreover, the effectiveness of the proposed approach is verified by the experimental results performed with a 6-DOF hydraulic parallel manipulator.

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Authors and Affiliations

  1. State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, 310027, China

    Yang-jun Pi  (皮阳军), Xuan-yin Wang  (王宣银) & Xi Gu  (顾曦)

  2. State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing, 400044, China

    Yang-jun Pi  (皮阳军)

Authors
  1. Yang-jun Pi  (皮阳军)
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  2. Xuan-yin Wang  (王宣银)
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  3. Xi Gu  (顾曦)
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Corresponding author

Correspondence to Yang-jun Pi  (皮阳军).

Additional information

Foundation item: Project(50375139) supported by the National Natural Science Foundation of China; Project(NCET-04-0545) supported by the New Century Excellent Talent Plan of the Ministry of Education of China

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Pi, Yj., Wang, Xy. & Gu, X. Synchronous tracking control of 6-DOF hydraulic parallel manipulator using cascade control method. J. Cent. South Univ. Technol. 18, 1554–1562 (2011). https://doi.org/10.1007/s11771-011-0872-6

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  • DOI: https://doi.org/10.1007/s11771-011-0872-6

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