加速度感覚提示機用パラレルマニピュレータの並列実時間動力学計算とH_∞加速度フィードバック制御

抄録

In this paper, we propose a control scheme of parallel manipulators focusing on the accuracy of acceleration on the endplate, which is an important factor when parallel manipulators are used as acceleration displays. We use two controllers—dynamic controller to achieve accuracy of position and to stabilize the system, and H∞ controller to feedback the acceleration measured on the endplate. The main problem of dynamic control is computational com-plexity. In order to reduce computation time for inverse dynamics, parallel processing method called multi-thread programming is applied. H∞ controller is added outside the closed loop of dynamic control to remove the vibration due to the elasticity of the links and the influence of modeling errors in the dynamic controller.