An Iterative Tuning Method for Feedforward Control of Parallel Manipulators Considering Nonlinear Dynamics  

作　　者：Xiaojian Wang Jun Wu 

机构地区：[1]Beijing Key Laboratory of Transformative High-end Manufacturing Equipment and Technology,Tsinghua University,Beijing 100084,China [2]State Key Laboratory of Tribology in Advanced Equipment and Institute of Manufacturing Engineering,Department of Mechanical Engineering,Tsinghua University,Beijing 100084,China

出　　处：《Chinese Journal of Mechanical Engineering》2025年第1期295-305,共11页中国机械工程学报(英文版)

基　　金：Supported by National Natural Science Foundation of China(Grant No.52375502);EU H2020 MSCA R&I Programme(Grant No.101022696).

摘　　要：Feedforward control is one of the most effective control techniques to increase the robot’s tracking accuracy.However,most of the dynamic models used in the feedforward controllers are linearly simplified such that the nonlinear and time-varying characteristics of dynamics in the workspace are ignored.In this paper,an iterative tuning method for feedforward control of parallel manipulators by taking nonlinear dynamics into account is proposed.Based on the robot rigid-body dynamic model,a feedforward controller considering the dynamic nonlinearity is presented.An iterative tuning method is given to iteratively update the feedforward controller by minimizing the root mean square(RMS)of the joint errors at each cycle.The effectiveness and extrapolation capability of the proposed method are validated through the experiments on a 2-DOF parallel manipulator.This research proposes an iterative tuning method for feedforward control of parallel manipulators considering nonlinear dynamics,which has better extrapolation capability in the whole workspace of manipulators.

关 键 词：Parallel manipulator Dynamic model Feedforward control Iterative learning control Parameter design 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TP242[自动化与计算机技术—控制科学与工程]