Iterative Learning Tracking Control of a Hybrid-Driven Based Three-Cable Parallel Manipulator

نویسندگان
چکیده

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Simultaneous Trajectory Tracking and Stiffness Control of Cable Driven Parallel Manipulator

............................................................................................................................. iii Acknowledgements............................................................................................................ iv List of Figures and Tables.................................................................................................. ix

متن کامل

Hybrid Iterative Learning Control of a Flexible Manipulator

sacrificed, efficient controls have to be studied and developed. Feedback control techniques use measurement and estimates of the system states for control of rigid-body motion and vibration suppression. In this case, using measurements at the hub and end-point of the manipulator as the basis for applying control torque at the hub will allow control of the end-point position. Thus, feedback con...

متن کامل

Adaptive Cascade Control of the KNTU CDRPM: A Cable Driven Redundant Parallel Manipulator

The challenging control problem of the cable driven redundant manipulators is due to the complexity of its dynamic and the required stringent performance for the its promising applications. This paper presents an approach to the control of the KNTU CDRPM using an adaptive cascade control scheme. The goal in this approach is achieving accurate trajectory tracking while assuring positive tension ...

متن کامل

Dual Space Control of a Deployable Cable Driven Robot: Wave Based Approach

Known for their lower costs and numerous applications, cable robots are an attractive research field in robotic community. However, considering the fact that they require an accurate installation procedure and calibration routine, they have not yet found their true place in real-world applications. This paper aims to propose a new controller strategy that requires no meticulous calibration and ...

متن کامل

Simultaneous Trajectory Tracking and Stiffness Control of Cable Actuated Parallel Manipulator

∗ Corresponding author, Phone: (716) 645-1430, Fax: (716) 645-3668, Email: [email protected]. ABSTRACT Cable-actuated parallel manipulators combine benefits of large workspaces, significant payload capacities and high stiffness by virtue of the cable actuation. However, redundant/surplus cables are required to overcome the unidirectional nature of forces exertable by cables. This leads to ...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: Advances in Mechanical Engineering

سال: 2014

ISSN: 1687-8140,1687-8140

DOI: 10.1155/2014/248385