Document Type

Article

Publication Date

4-27-2011

Abstract

Limited degree-of-freedom (DOF) parallel kinematic mechanisms (PKM) are capable of high bandwidth tracking and disturbance rejection with smaller actuators than are required for serial machines. A high performance Nyquist-stable (NS) controller with nonlinear dynamic compensation (NDC) applied to a new PKM is presented. The Popov criterion is used to show absolute stability (AS) of the closed loop system and experimental evidence of closed loop performance is provided. This novel approach to PKM control provides 38 dB of disturbance rejection below 10 Hz, an order of magnitude more that what is achieved by implementing an absolutely stable fixed gain (ASFG) controller.

DOI

10.1117/12.880064

Comments

Copyright 2011 Society of Photo Optical Instrumentation Engineers. One print or electronic copy may be made for personal use only. Systematic reproduction and distribution, duplication of any material in this paper for a fee or for commercial purposes, or modification of the content of the paper are prohibited.

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