Title :
The approach to a solution of the parallel manipulator direct dynamics problem
Author :
Bykanova, A.Y. ; Yurchik, F.D.
Abstract :
The providing of stable motion of parallel mechanism is possible by. forming control action for each degree of mechanism mobility. Moreover, such these control inputs by each degree of mobility must be formed with consideration of coupling effect in kinematics chains of manipulator.
Keywords :
force control; friction; manipulator dynamics; manipulator kinematics; partial differential equations; Lagrange equation; direct dynamics problem; force characterizing disturbance; frictional forces vector; input actions; kinematic chains; mechanical system control; parallel kinematics manipulators; parallel manipulators; spatial parallel mechanism; stable motion; Control systems; Cost function; Equations; Kinematics; Manipulator dynamics; Mathematical model; Predictive models; Robust stability; Sampling methods; Torque control;
Conference_Titel :
Modern Technique and Technologies, 2002. MTT 2002. Proceedings of the 8th International Scientific and Practical Conference of Students, Post-graduates and Young Scientists
Print_ISBN :
0-7803-7373-1
DOI :
10.1109/SPCMTT.2002.1213732
