Mathematical Problems in Engineering
Volume 2010 (2010), Article ID 302430, 25 pages
Research Article

Modified PSO Method for Robust Control of 3RPS Parallel Manipulators

Department of Electrical Engineering, Kao Yuan University, No. 1821, Jhongshan Road, Lujhu Township, Kaohsiung County 821, Taiwan

Received 2 February 2010; Revised 14 July 2010; Accepted 21 September 2010

Academic Editor: Horst Ecker

Copyright © 2010 Tung-Sheng Zhan and Chih-Cheng Kao. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


We propose an effective method to design a modified particle swarm optimization (MPSO) singularity control method for a fully parallel robot manipulator. By adopting MPSO to obtain simple and effective estimated damping values, the result automatically adjusts the damping value around a singular point and greatly improves the accuracy of system responses. This method works by damping accelerations of the end effector, so that accelerations along the degenerated directions are zero at a singular point. These velocities, however, may not be zero in some situations, in which case, fluctuations will be encountered around a singular point. To overcome this drawback, we propose a control scheme that uses both damped acceleration and damped velocity, called the hybrid damped resolved-acceleration control (HDRAC) scheme. The MPSO optimization method can immediately provide optimal damping factors when used in an online application. Our proposed approach offers such superior features as easy implementation, stable convergence characteristics, and good computational efficiency. The main advantage of the HDRAC with MPSO in the 3RPS parallel manipulator control system is that it is not necessary for the system to plan its path for avoiding the singular point; thus, the workspace can be improved. Illustrative examples are provided to show the effectiveness of this HDRAC in practical applications, and experimental results verifying the utility of the proposed control scheme are presented.