Dynamic Analysis and Control of Lightweight Arms with a Parallel Mechanism
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Abstract
A parallelogram drive enables lightweight arms to have a higher
rigidity and to reduce the actuator weight moved. Analysis of the
flexible closed kinematic chain dynamics and design of the control
are described in this paper. The system dynamics is derived by the
Lagrangian formula via the assumed mode method. Holonomic
constraints due to the geometry of the parallelogram mechanism
must be imposed on the dynamics. An orthonormal basis has been.
computed from the singular value decomposition of the constraint
Jacobian matrix in order to eliminate the constraint force in the equations of motion. The comparatively large workspace and fast
motion make motion control with flexibility in each link
computationally demanding. The general rigid control (GRC) is
implemented to overcome these problems. The solution algorithm
checks the constraint violations. Numerical simulation illustrates the
results under feedback control.
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1988-07
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