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The International Journal of Robotics Research
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Synchronous Tracking Control of Parallel Manipulators Using Cross-coupling Approach

D. Sun

Department of Manufacturing Engineering and Engineering Management, City University of Hong Kong, Kowloon, Hong Kong, medsun{at}cityu.edu.hk

R. Lu

Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON M5S 3G8 Canada, ren{at}mie.utoronto.ca

J. K. Mills

Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON M5S 3G8 Canada, mills{at}mie.utoronto.ca

C. Wang

Department of Manufacturing Engineering and Engineering Management, City University of Hong Kong, Kowloon, Hong Kong, cwang2{at}cityu.edu.hk

This paper presents a cross-coupled control approach to the tracking control of parallel manipulators in a synchronous manner. Based on the synchronization goal, the position synchronization error is investigated by considering motion synchronization between each actuator joint and its adjacent ones. A decentralized trajectory tracking controller is then developed with feedback of both position and synchronization errors, formed with a combination of feedforward, feedback and a saturation control. It is proven that this tracking controller can asymptotically stabilize both position and synchronization errors of the system. The proposed controller does not require the explicit use of the system dynamic model. Experiments performed on a 3-DOF parallel manipulator demonstrate improved performance with the proposed synchronous control design.

Key Words: Cross-coupled control • parallel manipulators • synchronization • trajectory tracking

The International Journal of Robotics Research, Vol. 25, No. 11, 1137-1147 (2006)
DOI: 10.1177/0278364906072037
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