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The precision motion control problem of a virtual axis machine tool is addressed in this paper, which is still one of the biggest obstacles of commercialization of the virtual axis machine tool. Firstly, the kinematics analysis of the parallel mechanism of a 6-DOF virtual axis machine tool is made. Secondly, a joint-space trajectory planning based on the cycloid movement is conducted to ensure the...
This paper presents a nonsingular terminal sliding mode control using fuzzy wavelet networks for trajectory tracking and stabilization of a Mecanum wheeled omnidirectional vehicle (MWOV). A dynamic model of the vehicle including static friction is constructed; on the basis of the model, a nonsingular terminal sliding mode control is proposed to achieve trajectory tracking and stabilization. Fuzzy...
This paper presents a backstepping sliding-mode motion control method for trajectory tracking and stabilization of a self-balancing two-wheeled robot (SBTWR). A decoupling method is proposed to decouple the robot's dynamic model such that the motion controller can be synthesized in both kinematic and dynamic levels. In the kinematic level, two virtual controls for trajectory tracking and stabilization...
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