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A novel dynamic trajectory tracking controller for spatial 6-DOF electro-hydraulic parallel manipulator considering system nonlinearity-computed force and velocity controller is proposed, with a view of improving the control performance with high computational efficiency of control algorithm. The dynamic model of electro-hydraulic parallel manipulator, both mechanical and hydraulic system, is described...
In this paper, the spatial six-DOF(degree of freedom) parallel manipulator is described as a rigid body, and in many cases, this simplification is adequate for describing the properties of the whole mechanical system, especially with large and heavy motion system. By using Kane approach the explicitly forward dynamic equations with six variables are gained straightly and readily. Under identical conditions,...
This paper proposed an simply and effectively dynamic model for the spatial 6-DOF parallel manipulator with heavily eccentric payload (PMHEP). Based on Newton method and theorem of angular momentum, the mathematical model of the PMHEP is derived, viewing it as a rigid body. The dynamic equations are programmed and implemented in Matlab/Simulink. Simulation results verified the dynamic formulations...
A novel model-based controller for 6 degree-of-freedom (DOF) hydraulic driven parallel manipulator considering the nonlinear characteristic of hydraulic systems-proportional plus derivative with dynamic gravity compensation controller is presented, in order to improve control performance and eliminate steady state errors. In this paper, 6-DOF parallel manipulator is described as multi-rigid-body systems,...
A novel model-based controller for six-degree-of-freedom (DOF) parallel manipulator is proposed in this paper, in order to abatement the influence of platform load variety and compel the steady state errors converge to zero. In this paper, 6-DOF parallel manipulator is described as multi-rigid-body systems, the mathematical model of the 6-DOF parallel manipulator including dynamics based on Kane method...
A novel model-based controller for six degree of freedom (dof) parallel manipulator-PID controller with gravity compensation is developed, in order to improve the control precision of six-dof hydraulic driven parallel manipulator with long stroke hydraulic actuator and heavy load. In this paper, six-dof parallel manipulator is described as a thirteen rigid-body systems. The mathematical model of gravity...
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