A. R. Khoogar
Department of Mechanical Engineering, Maleke-Ashtar University of Technology, Tehran, Iran
[ 1 ] - 3-RPS Parallel Manipulator Dynamical Modelling and Control Based on SMC and FL Methods
In this paper, a dynamical model-based SMC (Sliding Mode Control) is proposed fortrajectory tracking of a 3-RPS (Revolute, Prismatic, Spherical) parallel manipulator. With ignoring smallinertial effects of all legs and joints compared with those of the end-effector of 3-RPS, the dynamical model ofthe manipulator is developed based on Lagrange method. By removing the unknown Lagrange multipliers...
[ 2 ] - Dynamics and Regulation of Locomotion of a Human Swing Leg as a Double-Pendulum Considering Self-Impact Joint Constraint
Background:Despite some successful dynamic simulation of self-impact double pendulum (SIDP)-as humanoid robots legs or arms- studies, there is limited information available about the control of one leg locomotion.Objective :The main goal of this research is to improve the reliability of the mammalians leg locomotion and building more elaborated models close to the natural movements, by modelin...
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