マルチ駆動リニアモータを用いたパラレルリンク機構に関する研究 : 第2報,冗長駆動パラレルリンク機構のインピーダンス制御(機械力学,計測,自動制御)

概要

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Impedance control of a 3D4M parallel link mechanism (PLM), a 3 degree of freedom (xyθ) planar parallel link mechanism with redundant 4 actuators, is proposed. The impedance control requires the forward kinematics, which gives position and orientation of the end plate of parallel link mechanism. The notable link arrangement of the 3D4M PLM makes it easy to derive the forward kinematics, which have been difficult to derive the conventional parallel links. By using the forward kinematics, formulas of the impedance control of the 3D4M PLM were derived. Based on the previous report about the design of decoupled dynamics, experimental system of the 3D4M PLM was developed. A parallel link mechanism was constructed on linear motors in which 4 moving parts were individually driven on one stator part. Workspace impedance control achieved by force commands were implemented in the experimental system using a DSP based real time controller. Experimental responses of free vibrations to impedance control were compared with corresponding theoretical responses.
2010-10-25