کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
10420542 905095 2005 17 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Kinematic and dynamic modelling for real-time control of Tau parallel robot
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی صنعتی و تولید
پیش نمایش صفحه اول مقاله
Kinematic and dynamic modelling for real-time control of Tau parallel robot
چکیده انگلیسی
This paper presents the methodology of the kinematic and dynamic modeling for a newly developed parallel robot with the so-called Tau configuration. A set of analytical kinematic solutions has been developed for this parallel structure. A rigid body dynamic model has been formulated based on the principle of virtual work. Specific requirements including model term separation for real-time model based motion control are addressed in the analytical solutions, which are verified by both numerical simulation and actual experiments. This analytical approach enables the real-time control of this parallel robot with high positioning accuracy.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 40, Issue 9, September 2005, Pages 1051-1067
نویسندگان
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