Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy

Mechanism and Machine Theory

Volumn 44, Issue 4, 2009, Pages 835-849

  Wu, Jun ^a   Wang, Jinsong ^a   Wang, Liping ^a   Li, Tiemin ^a  

^a TSINGHUA UNIVERSITY   (China)

Author keywords

Actuation redundancy; Dynamics; Parallel manipulator; Position and force switching control

Indexed keywords

DYNAMICS; MACHINE TOOLS; MACHINERY; QUALITY ASSURANCE; REDUNDANCY; REDUNDANT MANIPULATORS; RELIABILITY; SWITCHING; SWITCHING SYSTEMS;

ACTUATION REDUNDANCY; CONTOUR ERRORS; CONTROL MODES; CONTROL STRATEGIES; CONTROL TESTS; CRITICAL ANGLES; DRIVING FORCES; DYNAMICS AND CONTROLS; HYBRID MACHINE TOOLS; INVERSE DYNAMICS; LEAST-SQUARE METHODS; ORIENTATION WORKSPACES; PARALLEL MANIPULATOR; POSITION AND FORCE SWITCHING CONTROL; POSITION COMPENSATIONS; REDUNDANT PARALLELS; SWITCHING CONTROL STRATEGIES; VIRTUAL WORK PRINCIPLES;

MANIPULATORS;

EID: 59649103429     PISSN: 0094114X     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.mechmachtheory.2008.04.002     Document Type: Article

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