Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy (Q1016962): Difference between revisions
From MaRDI portal
Set profile property. |
Set OpenAlex properties. |
||
Property / full work available at URL | |||
Property / full work available at URL: https://doi.org/10.1016/j.mechmachtheory.2008.04.002 / rank | |||
Normal rank | |||
Property / OpenAlex ID | |||
Property / OpenAlex ID: W2047782333 / rank | |||
Normal rank |
Revision as of 01:05, 20 March 2024
scientific article
Language | Label | Description | Also known as |
---|---|---|---|
English | Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy |
scientific article |
Statements
Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy (English)
0 references
14 May 2009
0 references
The authors discuss the title problem using the principle of virtual work and an optimization using least squares. They propose a switching position and force (kinematic and kinetic) control strategy, where different links are alternately controlled by kinematic and kinetic actuators. An application is envisioned with a four degree-of-freedom hybrid machine tool. The paper presents a potentially useful procedure for emplying redundancy to obtain optimal and precise machine motion.
0 references
force switching control
0 references
principle of virtual work
0 references
optimization
0 references