PD control with gravity compensation for hydraulic 6-DOF parallel manipulator

Mechanism and Machine Theory

Volumn 45, Issue 4, 2010, Pages 666-677

  Yang, Chifu ^a   Huang, Qitao ^a   Jiang, Hongzhou ^a   Ogbobe Peter, O ^a   Han, Junwei ^a  

^a HARBIN INSTITUTE OF TECHNOLOGY   (China)

Author keywords

Dynamic compensation; Hydraulic servo systems; Parallel manipulator; Proportional derivative control

Indexed keywords

CONTROL LOOP; CONTROL PERFORMANCE; CONTROL SCHEMES; DRIVEN SYSTEM; DYNAMIC COMPENSATION; FORWARD KINEMATICS; GRAVITY COMPENSATION; HYDRAULIC SYSTEM; KANE METHOD; LOCAL VELOCITY; MECHANICAL SYSTEMS; MODEL-BASED CONTROLLER; MULTI-RIGID-BODY; NONLINEAR CHARACTERISTICS; PARALLEL MANIPULATORS; PD CONTROL; PROPORTIONAL PLUS DERIVATIVES; PROPORTIONAL-DERIVATIVE CONTROL; SERVO-SYSTEMS; SERVO-VALVE; STEADY STATE ERRORS; SYSTEM STATE;

ERRORS; HYDRAULIC EQUIPMENT; HYDRAULICS; INVERSE KINEMATICS; MANIPULATORS; NEWTON-RAPHSON METHOD; SERVOMOTORS;

CONTROLLERS;

EID: 74449086967     PISSN: 0094114X     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.mechmachtheory.2009.12.001     Document Type: Article

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