Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy (Q1016962)
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scientific article; zbMATH DE number 5554139
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| English | Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy |
scientific article; zbMATH DE number 5554139 |
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Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy (English)
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14 May 2009
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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.
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force switching control
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principle of virtual work
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optimization
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0.89193183
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0.88061666
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0.8788873
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0.8785095
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