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Trajectory tracking control of a 3-CRU translational parallel robot based on PD+robust controller

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Abstract

In order to suppress the external disturbances existing in the trajectory tracking process of the 3-CRU parallel robot, a trajectory tracking control method based on PD+robust controller is proposed in this paper. The kinematic model of the 3-CRU parallel robot is established to solve the kinetic energy and potential energy of the system. The basic dynamic model of the 3-CRU parallel robot is obtained based on Lagrangian formulation, and the complete dynamic model of the parallel robot is established by introducing Coulomb and viscous friction. Based on the analysis of the factors affecting the stability of PD controller, a trajectory tracking control method based on PD+robust controller is proposed, and it is proved theoretically that the system converges stably and has a good external disturbance suppression effect. The method has the characteristics of easy implementation and strong applicability of PD controller and strong robustness of robust controller. Experimental results prove the effectiveness of this method.

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Acknowledgments

This work was supported by the Science and Technology Planning Project of Guangdong province, China [grant numbers 2020A0103010].

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Authors and Affiliations

  1. School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, 510640, People’s Republic of China

    Tie Zhang, Guangcai Ma & Yachao Cao

  2. Ji Hua Laboratory, Foshan, 528200, People’s Republic of China

    Guangcai Ma

Authors
  1. Tie Zhang
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  2. Guangcai Ma
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  3. Yachao Cao
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Correspondence to Tie Zhang.

Additional information

Tie Zhang is a Professor and a Ph.D. candicate supervisor of the School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, China. He received his Ph.D. in Mechanical Manufacturing and Automation from South China University of Technology in 2001. His main research interests include optimal design and control of serial and parallel robots, automation and intelligent systems.

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Zhang, T., Ma, G. & Cao, Y. Trajectory tracking control of a 3-CRU translational parallel robot based on PD+robust controller. J Mech Sci Technol 36, 4243–4255 (2022). https://doi.org/10.1007/s12206-022-0742-1

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  • DOI: https://doi.org/10.1007/s12206-022-0742-1

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