Dynamic Modeling and Control of a 6 DOF Parallel Kinematics
نویسنده
چکیده
An object-oriented modeling structure as utilized by Modelica is well suitable for the simulation of the dynamic behavior of parallel kinematic structures. Especially application of the simulation system DYMOLA based on this language enables an easy dynamics simulation of parallel kinematics up to creation of inverse models in the purpose of control. Based on the inverted simulation of closed loop behavior in connection with a real-time implementation new concepts of multi-axis control become feasibly.
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