Simulation of 6-DOF Parallel Robot for Coupling Compensation Method
نویسندگان
چکیده
منابع مشابه
Coupling Compensation of 6-DOF Parallel Robot Based on Screw Theory
In order to improve control performance and eliminate steady, a coupling compensation for 6-DOF parallel robot is presented. Taking dynamic load Tank Simulator as the research object, this paper analyzes the coupling of 6-DOC parallel robot considering the degree of freedom of the 6-DOF parallel manipulator. The coupling angle and coupling velocity are derived based on inverse kinematics model....
متن کاملFuzzy Support Vector Machines Control for 6-DOF Parallel Robot
In order to realize the trajectory tracking control of six degrees of freedom parallel robot, the dynamics equation of six degrees of freedom parallel robot was established. The parallel robot has obvious nonlinear, uncertainty characteristics and external disturbance, so the sliding mode variable structure theory was introduced into the system control. A fuzzy support vector machines control s...
متن کاملModeling and Simulation of a 6 DOF Robot
The purpose of this paper is to model and simulate a 6 DOF robotic system with revolute joints in order to optimize the motion law which results in uniform coating deposited by spray pyrolysis. The structure and the complexity of the robotized system are determined by the necessary movements in the spray pyrolysis process. The nozzle (end-effector of the robot manipulator) has two translations,...
متن کاملPID control with gravity compensation for hydraulic 6-DOF parallel manipulator
A novel model-based controller for 6 degree-of-freedom (DOF) hydraulic driven parallel manipulator considering the nonlinear characteristic of hydraulic systems-proportional plus derivative with dynamic gravity compensation controller is presented, in order to improve control performance and eliminate steady state errors. In this paper, 6-DOF parallel manipulator is described as multi-rigid-bod...
متن کاملError Analysis and Compensation Method Of 6-axis Industrial Robot
Jianhao Zhang, Jinda Cai Numerical Control And Display Lab, USST, 200093 ShangHai,China Emails:[email protected] Abstract:A method of compensation is proposed based on the error model with the robot’s parameters of kinematic structure and the joint angle. Using the robot kinematics equation depending on D-H algorithm, a kinematic error model is deduced relative to the end actuator of the robot, ...
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: Information Technology Journal
سال: 2011
ISSN: 1812-5638
DOI: 10.3923/itj.2011.428.433