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For a class of nonspherical-wrist manipulators, i.e., redundant or nonredundant, we propose unified singularity analysis and computation-effective avoidance methods. First, we construct a unified model to describe this class of manipulators and derive the kinematics equation and its modified form. Second, the Jacobian matrix of an $n$-degree-of-freedom (DOF) manipulator is partitioned into block...
The principle and characteristics of the input shaping combined with PD control system are studied in this paper. Firstly, the structure and parameters of the main parts of the 3-DOF parallel manipulator are introduced. Secondly, the response, actuator effort and energy consumption of input shaping combined with PD control system are analyzed, followed by the characterization of its actuator effort...
In this paper, we presents a new nonlinear iterative learning control law for a class of nonlinear systems, denoted NP-D-INP-D, which is composed by limiting the action of error in PID learning law, that is, use a bounded nonlinear function of error instead of error, and adding a differential feedback in the integrator of PID learning law to inject the suited damping. By using Bellman-Gronwall lemma,...
This paper deals with the tracking control of robot manipulators. Proposed is a class of new SM-NPID-like tracking controllers consisting of a linear combination of the linear sliding mode control, proportional control, derivative control, nonlinear control shaped by a nonlinear function of position errors, linear integral control driven by differential feedback, and nonlinear integral control driven...
This paper deals with the position control of robot manipulators with uncertain and varying-time payload. Proposed is a set of novel NPID-like regulators consisting of a linear combination of the proportional control mode, derivative control mode, nonlinear control mode shaped by a nonlinear function of position errors, and two nonlinear integral control modes driven by a nonlinear function of position...
This paper deals with the position control problem of designing asymptotically stable proportional plus integral regulators with only position feedback for robot manipulators with uncertain and varying-time payload. Proposed is a simple class of robot regulators consisting of a linear PD plus an integral action driven by NP-D controller, where the velocity feedback is replaced by a filtered position...
This paper deals with the position control of rigid robot manipulators with uncertain payload. Proposed is a simple class of robot regulators consisting of a linear proportional-derivative (PD) feedback plus an integral action driven by an NP-D controller. By using Lyapunovpsilas direct method and LaSallepsilas invariance principle, the simple explicit conditions on the regulator gains to ensure global...
Based on the single-open-chain method, a systematic and effective design process for structural synthesis of the 4-DOF (3T1R) parallel manipulator is given. And 12 promising 3T1R parallel manipulators with lower coupling degree are presented originally in this paper. Then, these manipulators are deliberately classified according to topological symmetry, the coupling degree, structure simplicity and...
A novel 6-DOF parallel manipulator composed of two limited-DOF manipulators is proposed in this paper, the degree of freedom (DOF) of this manipulator is analyzed and the position kinematic modeling is established. The Jacobian matrix is derived by vector loops equations. The workspace is determined considering the interference check by the numerical method. Furthermore, the performance of the mechanism...
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