Robust PD control using adaptive compensation for completely restrained parallel-wire driven robots: Translational systems using the minimum mumber of wires under zero-gravity condition

IEEE Transactions on Robotics

Volumn 23, Issue 4, 2007, Pages 803-812

  Kino, Hithoshi ^a   Yahiro, Toshiaki ^a   Takemura, Fumiaki ^b   Morizono, Tetsuya ^c  

^a FUKUOKA INSTITUTE OF TECHNOLOGY   (Japan)

^b International Rescue System Institute   (Japan)

^c TOYOTA TECHNOLOGICAL INSTITUTE   (Japan)

Author keywords

Cable; Internal force; Linearization; Positioning; Robust; Wire

Indexed keywords

ACTUATORS; LINEARIZATION; LYAPUNOV METHODS; MATRIX ALGEBRA; MOTION CONTROL; POSITION CONTROL; ROBUST CONTROL; TWO TERM CONTROL SYSTEMS;

INTERNAL FORCE; JACOBIAN MATRIX; LYAPUNOV STABILITY ANALYSIS; PARALLEL-WIRE DRIVEN ROBOTS; POINT-TO-POINT POSITION CONTROL;

ROBOTS;

EID: 34548181655     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2007.900633     Document Type: Article

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