Modal Decoupled Dynamics Feed-Forward Active Force Control of Spatial Multi-DOF Parallel Robotic Manipulator
نویسندگان
چکیده
منابع مشابه
Cross-Coupled Contouring Control of Multi-DOF Robotic Manipulator
Reduction of contour error is a very important issue for high precise contour tracking applications, and many control systems were proposed to deal with contour tracking problems for two/three axial translational motion systems. However, there is no research on cross-coupled contour tracking control for serial multi-DOF robot manipulators. In this paper, the contouring control of multi-DOF seri...
متن کاملOn a Moving Base Robotic Manipulator Dynamics
There are many occasions where the base of a robotic manipulator is attached to a moving platform, such as on a moving ship, terrain or space shuttle. In this paper a dynamic model of a robotic manipulator mounted on a moving base is derived using both Newton-Euler and Lagrange-Euler methods. The presented models are simulated for a Mitsubishi PA10-6CE robotic manipulator characteristics mounte...
متن کاملBenchmark problem - nonlinear control of a 3-DOF robotic manipulator
This document proposes the nonlinear control of an industrial three-degrees-of-freedom (3-DOF) robotic manipulator as a benchmark problem for controller synthesis methods, that are applicable to complex plants, but can provide implementation with low complexity. Full details on the nonlinear model of the industrial robotic manipulator Thermo CRS A465 are provided. Furthermore, a solution is pre...
متن کاملIntegrator Backstepping Control of a 5 DoF Robot Manipulator with Cascaded Dynamics
In this paper, dynamic equations of motion of a 5 DoF robot manipulator including mechanical arms with revolute joints and their electrical actuators are considered. The application of integrator backstepping technique for trajectory tracking in presence of parameters of uncertainty and disturbance is studied. The advantage of this control technique is that it imposes the desired properties of ...
متن کاملKinematic Analysis And Optimization Of Multi Dof Parallel Manipulator
The role of robotics in society is no longer restricted to assembly and manufacturing. Robots are finding their way into –a wide spectrum of tasks that directly link human and machine. Due to the modelling error or environmental uncertainties, robot motion may present a significant positioning error by using a conventional Computer-Torque Method. To improve tracking capability of robot manipula...
متن کاملذخیره 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: Mathematical Problems in Engineering
سال: 2019
ISSN: 1024-123X,1563-5147
DOI: 10.1155/2019/1835308