Approximate Feedback Linearization Control for Spatial 6-DOF Hydraulic Parallel Manipulator

Approximate Feedback Linearization Control for Spatial 6-DOF Hydraulic Parallel Manipulator

Traditional feedback linearization approach (TFL) requires a priori knowledge of plant, which is difficult and the computational efficiency of controller is low due to the complex dynamics of spatial 6-DOF hydraulic parallel manipulator. In order to improve the tracking performance of spatial 6-DOF hydraulic parallel manipulator and to conquer the drawbacks of TFL, a novel approximate feedback ...

PID control with gravity compensation for hydraulic 6-DOF parallel manipulator

A novel model-based controller for 6 degree-of-freedom (DOF) hydraulic driven parallel manipulator considering the nonlinear characteristic of hydraulic systems-proportional plus derivative with dynamic gravity compensation controller is presented, in order to improve control performance and eliminate steady state errors. In this paper, 6-DOF parallel manipulator is described as multi-rigid-bod...

Nonlinear Adaptive Control of a 6 Dof Parallel Manipulator

This paper presents the kinematic and dynamic modeling and experimental results with nonlinear adaptive control of the Hexaglide, a new 6 dof parallel manipulator that is used as a high speed milling machine. The dynamic equations in a linear form for use in a nonlinear adaptive control scheme are Þrst derived using a method based on the virtual work principle. These equations are then implemen...

Adaptive control of the Hexaglide, a 6 dof parallel manipulator

This paper presents the dynamic equation, non-linear control and dynamic parameters identiication of the Hexaglide, a new 6 dof parallel manipulator intended to be used as a high speed milling machine. Using a method based on the virtual work principle , the dynamic equation is found in a compact linear form and then used in a non-linear adaptive control algorithm based on the minimization of t...

non-linear control distillation column using approximate feedback linearization