TY - JOUR
T1 - Improving path accuracy of a crank-type 6-dof parallel mechanism by stiction compensation
AU - Castillo-Castañeda, E.
AU - Takeda, Y.
PY - 2008/1
Y1 - 2008/1
N2 - 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.
AB - 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.
KW - Parallel mechanisms
KW - Path accuracy
KW - Precision motion
KW - Stiction compensation
UR - http://www.scopus.com/inward/record.url?scp=36049046402&partnerID=8YFLogxK
U2 - 10.1016/j.mechmachtheory.2006.12.002
DO - 10.1016/j.mechmachtheory.2006.12.002
M3 - Artículo
SN - 0094-114X
VL - 43
SP - 104
EP - 114
JO - Mechanism and Machine Theory
JF - Mechanism and Machine Theory
IS - 1
ER -