Robust nonlinear task space control for 6 DOF parallel manipulator

DOI10.1016/j.automatica.2005.04.014zbMath1086.93047OpenAlexW2170585535MaRDI QIDQ2576117

Hag Seong Kim, Kyo-Il Lee, Young Man Cho

Publication date: 8 December 2005

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2005.04.014

zbMATH Keywords

6 DOF manipulatorAlpha-beta trackerFriction estimatorRobust nonlinear task space control

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Automated systems (robots, etc.) in control theory (93C85) Robot dynamics and control of rigid bodies (70E60)

Related Items (5)

Nonlinear adaptive task space control for a 2-DOF redundantly actuated parallel manipulator ⋮ Adaptive fuzzy sliding mode and robust tracking control for manipulators with uncertain dynamics ⋮ Finite time position synchronised control for parallel manipulators using fast terminal sliding mode ⋮ PD control with gravity compensation for hydraulic 6-DOF parallel manipulator ⋮ The closed-form motion equation of redundant actuation parallel robot with joint friction: an application of the Udwadia-Kalaba approach

Cites Work

• Unnamed Item
• Closed-form dynamic equations of the general Stewart platform through the Newton-Euler approach.
• A survey of models, analysis tools and compensation methods for the control of machines with friction
• Parallel robots
• Theory of robot control
• On adaptive friction compensation
• A New Class of Stabilizing Controllers for Uncertain Dynamical Systems

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