Design of Dynamic Model with Adaptive Nonlinear Friction Compensation for Vacuum Parallel Manipulator

Huang Liangsong; Yuchuan Huang; Yuxia Li

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Design of Dynamic Model with Adaptive Nonlinear Friction Compensation for Vacuum Parallel Manipulator

Huang Liangsong 1 * #,Yuchuan Huang 2,Yuxia Li 1

1.College of Electrical and Electrical Automation, Shandong University of Science and Technology, Qingdao 266590

2.Communication and Information Center,State Administration of Work Safety,Beijing,100013

*Correspondence author

#Submitted by

Subject:

Funding: Specialized Research Fund for the Doctoral Program of Higher Education（No.No. 20123718120007）

Opened online:24 August 2015

Accepted by: none

Citation: Huang Liangsong,Yuchuan Huang,Yuxia Li.Design of Dynamic Model with Adaptive Nonlinear Friction Compensation for Vacuum Parallel Manipulator[OL]. [24 August 2015] http://en.paper.edu.cn/en_releasepaper/content/4651809

A dynamic model and a method of adaptive nonlinear friction compensation with parametric uncertainties of vacuum parallel manipulator are designed. For the specificity of mechanical structure of manipulator, the composite motions of manipulator are decomposed into three decoupled motions, and a practical and simple dynamic model is designed. For the problems of friction models at present, a method of adaptive nonlinear friction compensation base on modified Dalh model is designed, which is well stable and feasible. The control system of manipulator with current feedforward compensations of dynamic model is designed, results of experiment indicate that the design improves the trajectory tracking and motion performances of vacuum parallel manipulator, which can be implemented in practical applications.

Keywords:Dynamic Model; Adaptive Friction Compensation; Current Feedforward compensation; Trajectory Tracking

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