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This paper presents mechanical system dynamics modeling analysis and control of a novel compliant flexure-based micro-parallel positioning stage. The designed microparallel positioning stage consists of a mobile plate, a fixed base, and three limbs with identical kinematic structure. Certain geometric conditions are adopted to make the mobile plate with purely 3 translational degrees of freedoms....
This paper introduces a motion planning method for a rapid mobile manipulator using an inverted pendulum model. We design a linear quadratic optimal controller to stabilize ZMP. The two kinds of ZMP stabilization strategies (Fixed ZMP and Relaxed ZMP) are proposed. The highly geared manipulator is controlled by a Cartesian computed torque (CCT) control for compliant motion. A rapid mobile manipulator...
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