کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
800081 | 903739 | 2008 | 11 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Improving path accuracy of a crank-type 6-dof parallel mechanism by stiction compensation
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موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی صنعتی و تولید
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
The path accuracy of parallel mechanisms depends on both the mechanical design and the motion control algorithm that minimizes the following error. The PID control algorithm is not suitable for very precise motion control since it cannot compensate non-linear phenomena such as backlash and static friction or stiction. This work proposes a stiction compensation algorithm to improve path accuracy of a crank-type 6-dof parallel mechanism. The stiction has been modeled as a dead-zone and has been experimentally identified. The results were compared with those of the classical PID including velocity and acceleration feed forward.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 43, Issue 1, January 2008, Pages 104–114
Journal: Mechanism and Machine Theory - Volume 43, Issue 1, January 2008, Pages 104–114
نویسندگان
E. Castillo-Castañeda, Y. Takeda,