Supervision and Control Strategies of a 6 DOF Parallel Manipulator Using a Mechatronic Approach

نویسندگان

  • João Mauricio Rosário
  • Didier Dumur
  • Mariana Moretti
  • Fabian Lara
  • Alvaro Uribe
چکیده

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

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Using a Mechatronic Approach

Currently, the Stewart Platform is used in different engineering applications (machine tool technology, underwater research, entertainment, medical applications surgery, and others) due to its low mechatronic cost implementation as an alternative to conventional robots. The current trend of using parallel manipulators has created the need for developing open supervision and control architecture...

متن کامل

ANFIS+PID Hybrid Controller Design for Controlling of a 6-DOF Robot Manipulator and its Error Convergence Analysis

In this paper, an ANFIS+PID hybrid control policy has been addressed to control a 6-degree-of freedom (6-DOF) robotic manipulator. Then its error convergence has been also evaluated. The ability to formulate and estimate the system uncertainties and disturbances along with system dynamics and rejecting the disturbances effect are some advantages of the proposed method in   comparing with the co...

متن کامل

Kinematic and Dynamic Analysis of Tripteron, an Over-constrained 3-DOF Translational Parallel Manipulator, Through Newton-Euler Approach

In this research, as the main contribution, a comprehensive study is carried out on the mathematical modeling and analysis of the inverse kinematics and dynamics of an over-constraint three translational degree-of-freedom parallel manipulator. Due to the inconsistency between the number of equations and unknowns, the problem of obtaining the constraint forces and torques of an over-constraint m...

متن کامل

Design and Kinematic Analysis of a 4-DOF Serial-Parallel Manipulator for a Driving Simulator

This paper presents the kinematic analysis and the development of a 4-degree-of-freedom serial-parallel mechanism for large commercial vehicle driving simulators. The degrees of freedom are selected according to the target maneuvers and the structure of human motion perception organs. Several kinematic properties of parallel part of the mechanism under study are investigated, including the inve...

متن کامل

Kinematic Synthesis of Parallel Manipulator via Neural Network Approach

In this research, Artificial Neural Networks (ANNs) have been used as a powerful tool to solve the inverse kinematic equations of a parallel robot. For this purpose, we have developed the kinematic equations of a Tricept parallel kinematic mechanism with two rotational and one translational degrees of freedom (DoF). Using the analytical method, the inverse kinematic equations are solved for spe...

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

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

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

عنوان ژورنال:

دوره   شماره 

صفحات  -

تاریخ انتشار 2010