Improving path accuracy of a crank-type 6-dof parallel mechanism by stiction compensation

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14 Scopus citations

Abstract

The path accuracy of parallel mechanisms depends on both the mechanical design and the motion control algorithm that minimizes the following error. The PID control algorithm is not suitable for very precise motion control since it cannot compensate non-linear phenomena such as backlash and static friction or stiction. This work proposes a stiction compensation algorithm to improve path accuracy of a crank-type 6-dof parallel mechanism. The stiction has been modeled as a dead-zone and has been experimentally identified. The results were compared with those of the classical PID including velocity and acceleration feed forward.

Original languageEnglish
Pages (from-to)104-114
Number of pages11
JournalMechanism and Machine Theory
Volume43
Issue number1
DOIs
StatePublished - Jan 2008
Externally publishedYes

Keywords

  • Parallel mechanisms
  • Path accuracy
  • Precision motion
  • Stiction compensation

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