Design and Linear Quadratic Optimal Regulator (LQR) Control of 6-Dof RSS Parallel Manipulator
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Date
2015
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Publisher
Destech Publications, Inc
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Abstract
In this study; design, analysis and real time trajectory tracking control of six degrees of freedom revolute spherical-spherical (RSS) type parallel manipulator, actuated by six hybrid stepper motors, has been studied. And then single input-single output (SI/SO) linear quadratic optimal regulator (LQR) control approach has been used for trajectory tracking control of manipulator. Real-time experimental results for the linear quadratic optimal regulator control technique has been verified and proven. Finally, according to the experimental results, linear quadratic optimal regulator controller method has improved the tracking performance of designed manipulator.
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Keywords
Parallel Manipulator, Kinematics Analysis, Dynamics Analysis, Hybrid Stepper Motor, Linear Quadratic Optimal Regulator Control
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Source
International Conference on Applied Mechanics and Mechatronics Engineering (AMME) -- Oct 25-26, 2015 -- Bangkok, Thailand
Volume
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Start Page
344
End Page
348
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