Piecewise overactuation of parallel mechanisms following singular trajectories: Modeling, simulation and control (Q1768858)
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scientific article; zbMATH DE number 2146252
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| English | Piecewise overactuation of parallel mechanisms following singular trajectories: Modeling, simulation and control |
scientific article; zbMATH DE number 2146252 |
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Piecewise overactuation of parallel mechanisms following singular trajectories: Modeling, simulation and control (English)
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15 March 2005
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This paper represents a novel advanced algorithm for redundant actuation of closed-loop multibody parallel mechanical structures. The proposed procedure takes into consideration a number of actuators and their location which are determined by solving an optimal control problem under the condition of piecewise trajectory planning. Two illustrative examples are presented.
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closed-loop kinematics
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feed-forward computed torque
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0.7944312691688538
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0.7890757918357849
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0.7790486812591553
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0.7591890096664429
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