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Robotica

Table of Contents - March 2011 - Volume 29, Issue 02  

Article

A novel iteration-based controller for hybrid machine systems for trajectory tracking at the end-effector level

Z. H. Chena1a2, Y. Wanga3, P. Ouyanga4, J. Huanga1a5 and W. J. Zhanga1a5 c1

a1 College of Mechanical and Power Engineering, East China University of Sciences and Technology, Meilong Road 130, Shanghai 200237, P.R. China

a2 Department of Engineering Machinery, Shandong Jiaotong University, 5 Jiaoxiao Road, Jinan, Shandong 250023, P.R. China

a3 School of Mechanical Engineering, Shandong University, 73 Jingshi Road, Jinan 250061, P.R. China

a4 Department of Airspace Engineering, Ryerson University, Centre for Computing and Engineering, ENG170, 350 Victoria Street, Toronto, Ontario M5B 2K3, Canada

a5 Department of Mechanical Engineering, University of Saskatchewan, 57 Campus drive, Saskatoon, Saskatchewan S7N 5A9, Canada

SUMMARY

Hybrid actuation systems consist of two types of motors: constant velocity (CV) motor and servo (SV) motor. The CV motor can produce a large power but with a poor task flexibility. On the other hand, the SV motor has an excellent task flexibility but with a small power capacity. Combination of these two types of motors into a coherent driver architecture for machine systems is extremely promising, because they complement each other. Existing studies on the hybrid actuation or machine system usually employ two servo motors, one of which substitutes the CV motor. This treatment compromises the control accuracy for the trajectory tracking at the end-effector. This paper presents a study on a new controller for the hybrid machine that considers one SV motor and one CV motor and for trajectory tracking at the end-effector level. A comparison of this new controller with the controller we developed previously is provided. A five-bar mechanism with two degrees of freedom is employed for the illustration purpose.

(Received March 30 2010)

(Online publication April 27 2010)

KEYWORDS:

  • Hybrid actuation system;
  • Five-bar mechanism;
  • Control;
  • Trajectory tracking

Correspondence:

c1 Corresponding author. E-mail: Chris.Zhang@Usask.Ca