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Modelling, simulation and control of a redundant parallel robotic manipulator based on invariant manifolds

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  • M. Manderla
  • D. Schmitt
  • U. Konigorski

Abstract

In this article a systematic approach of modelling and control for a parallel robotic manipulator is presented. Regarding the framework of structured analysis of dynamical systems the derivation of a differential-algebraic model of the mechanical system is straightforward. Using some differential-geometric considerations based on invariant manifolds and the definition of fictitious additional input and output variables a suitable state feedback can be constructed which transforms the differential-algebraic representation into a state-space model for the robotic manipulator. On this basis a classical two-degree-of-freedom (2-DOF) control structure has been designed using the well-known input--output linearization and a linear time-variant Kalman filter-based output feedback. Finally, the control structure including a friction compensation is applied to the robotic system in the laboratory which shows the practical applicability of the proposed procedure.

Suggested Citation

  • M. Manderla & D. Schmitt & U. Konigorski, 2010. "Modelling, simulation and control of a redundant parallel robotic manipulator based on invariant manifolds," Mathematical and Computer Modelling of Dynamical Systems, Taylor & Francis Journals, vol. 16(2), pages 95-113, February.
    • Handle: RePEc:taf:nmcmxx:v:16:y:2010:i:2:p:95-113
    DOI: 10.1080/13873951003738250
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