CONTROL OF A 2-DOF TRANSLATIONAL HIGH-SPEED AND LIGHT-WEIGHT PARALLEL MANIPULATOR

The control method of a 2-DOF high-speed,light-weight parallel manipulator is presented in this paper. First,the inertia map in the work space is estimated by the use of virtual work principle and matrix singular value theory. On the basis of the above analysis,the single axis feedback control system suiting for the manipulator is designed. And the control parameters are produced by computer simulation and the method is validated by experiment.