Cross Coupling Effects of Modal Space Decoupling Control for Six Degree of freedom 6-DOF Parallel Mechanism (6 DOF PM)
Keywords:Six Degree of Freedom, Parallel Manipulator, Modal Space, Decoupled Control, Cross Coupling
This study presented the performance of an alternative and effective control strategy through a decoupled controller by an input and an output transformation matrix, such that each Degrees of Freedom can be tuned independently with their bandwidth raised near to the eigenfrequencies. The simulation results of the Modal Space Decoupled Controller were analyzed in Matlab/Simulink environment and comparison made between the conventional PID controllers based on cross coupling effects. The results indicate that the conventional joint space conforms to the theoretical analysis when the compensation for the coupling effects was not considered. The results further showed that the Modal Space Decoupled Controller modified the dynamics characteristics, which can be attributed to reduction in the coupling effects between degrees of freedom motions.
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