Paper title

“Adaptive Hybrid Control of Cooperative Parallel Manipulators”

Authors: S. Rouhollah Jafari T., Aria Alasty
Affiliation: Center of Excellence in Design, Robotics, and Automation, Sharif University of Technology, Tehran, Iran

Abstract — In this paper, a new method to control the position and internal force of a cooperative parallelmanipulator system is proposed. The cooperative system includes two parallel 6-dof Stewart manipulators and a rigid object grasped by the manipulators. Combining dynamic equations of Stewart platforms and the object, the dynamic equation of the cooperative system is derived. A new adaptive strategy using feedback linearization method is suggested to control the object position in existence of parametric uncertainties in the dynamic model. To control the internal force, a linear controller composed of feedforward and integral parts, is used. Simulation results show the convergence of the object position to the desired path while the internal forces remain in the allowable bound.