Title :
Proposal of a new forward kinematics calculating method and control law for parallel link manipulators
Author :
Osuka, Koichi ; Kubo, Hitoshi ; Minase, Yuki ; Ueshima, Kazuro ; Nakamura, Yoichi
Author_Institution :
Kobe Univ.
Abstract :
In this paper, we propose a novel solving method of forward kinematics problem for PLMs and construct a task coordinated feedback control which used the character of Jacobian and made calculation easy. Then we prove the stability of this control system and verify the validity by the simulation and experiment
Keywords :
Jacobian matrices; feedback; manipulator kinematics; stability; Jacobian character; control law; control system stability; forward kinematics calculating method; parallel link manipulators; task coordinated feedback control; Control system synthesis; Control systems; Couplings; Design methodology; End effectors; Feedback control; Iterative methods; Jacobian matrices; Kinematics; Proposals;
Conference_Titel :
Advanced Intelligent Mechatronics. Proceedings, 2005 IEEE/ASME International Conference on
Conference_Location :
Monterey, CA
Print_ISBN :
0-7803-9047-4
DOI :
10.1109/AIM.2005.1511052
