SYNCHRONIZATION CONTROL OF A PARALLEL MANIPULATOR WITH REDUNDANT ACTUATION IN THE TASK SPACE

To improve the coordination relations between multiple kinematic chains of the parallel manipulator with redundant actuation, a new synchronization controller is proposed in the task space. The synchronization error is defined directly in the task space with the tracking trajectory of the end-effector, and then the synchronization control law is designed with the cross-coupled control method. The stability of the parallel manipulator system and the convergence of the tracking error and synchronization error are proved by using the Barbalat's Lemma. The trajectory tracking experiments are carried out on an actual parallel manipulator, and then the control performances between the synchronization controller and the augmented PD (APD) controller are compared