Research on Control of 6-Dof Redundant Parallel Mechanisms

Abstract

In this paper, a control technique only by controlling the active leg to achieve the mechanism complex motion is proposed, in which the redundant actuation force of the 6-DOF redundant parallel mechanisms is constant. The motion of redundant mechanism can be realized by only controlling the hinge point, without considering the coupling between the various branched chains. Compared with the common hybrid control technique of the force position, this technique is more simple and easy to implement. The mechanical model of the 6-DOF redundant parallel mechanisms is developed with the SimMechanics in MATLAB and is controlled with the PID control technique based on the hinge point space. The results show that the control accuracy and response speed meet the system requirement due to the control system is simpler. So the constant redundant force control technique is ideal for engineering applications.