Trajectory tracking performance of modal space decoupled controller for six Degree of Freedom parallel mechanism (6 DOF pm)
نویسندگان
چکیده
The paper presented the trajectory performance of Modal Space Decoupled Controller (MSDC) and conventional joint space controller. Phase retarding amplitude fading were chosen to evaluate how well modal decoupling controller can follow a trajectory. responses sinusoidal inputs along six directions surge, sway, heave, roll, pitch, yaw given. result indicates that has better tracking when compared PID For (CJS), phase for linear angular motions motion attains maximum value at 40.90º 23.98º respectively. is 22.84º in 0.975º fades 0.54dB 0.47dB motions, while controller, 0.1696dB 0.082dB motions. Subjecting two controllers desired circular combined surge predefined was tracked much more by proposed MSDC than CJS.
منابع مشابه
Free Vibration Analysis of a Six-degree-of-freedom Mass-spring System Suitable for Dynamic Vibration Absorbing of Space Frames
This study is concentrated on the natural frequencies and mode shapes of a simple three-member space frame coupled with a dynamic vibration absorber. The dynamic vibration absorber is modeled as a six-degree-of-freedom mass-spring system. For the first time, the free vibration of an elastic structure with a six-degree-of-freedom mass-spring system is found. Each member of the space frame has un...
متن کاملStructure Synthesis of 6-DOF 3-3 Decoupled Parallel Manipulators
In parallel manipulator design, usual 6-DOF PMs, like the Stewart platform, suffer from the disadvantages of difficult forward kinematics, coupled motion, and small workspace, so that the motion planing and control become very complicated and difficult to be implemented in real application. Most of the PMs with lower mobility are over-constrained when assembly errors are considered [1]. Therefo...
متن کاملSix Degree-of-Freedom Sphere Tracking for 3D Interaction
Interaction with 3D objects using standard computer input devices such as a mouse and keyboard is often a difficult task. For this reason, Tangible User Interfaces (TUIs) are developed to allow more natural 3D interaction by manipulating physical objects in a familiar way. We present a new TUI system that includes a passive optical tracking method to compute the six degree-offreedom pose of a s...
متن کاملHEMISPHERE, a Fully Decoupled Parallel 2-DOF Spherical Mechanism
This paper presents a fully decoupled parallel 2-DOF spherical mechanism, named HEMISPHERE. First, the design idea is introduced based on a general 2-DOF spherical mechanism. Then, a practical architecture is presented, which employs only two kinds of 1-DOF kinematic pairs: revolute joint and prismatic pair. Next, following the discussion about the limitation from the friction circle of the rev...
متن کاملKinematic Design of a Three Degree of Freedom Parallel Hand Controller Mechanism
This paper presents the kinematic design of a 10 link “inparallel” mechanism for use in a three degree of freedom forcereflecting haptic interface. The mechanism linkage couples three coplanar rotary electric motor shafts to the endpoint grasped by the human operator. The linkage permits all motor housings to be supported on a common base, thereby reducing the inertia and weight that the interf...
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: Global Journal of Engineering and Technology Advances
سال: 2022
ISSN: ['2582-5003']
DOI: https://doi.org/10.30574/gjeta.2022.10.3.0052