Robust nonlinear task space control for 6 DOF parallel manipulator

DOI10.1016/J.AUTOMATICA.2005.04.014MaRDI QIDQ2576117zbMATH OpenOpenAlexFDO

Authors Hag Seong Kim, Y. M. Cho, Kyo-Il Lee

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

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

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Cites work

• scientific article; zbMATH DE number 1552906 (Why is no real title available?)
• A New Class of Stabilizing Controllers for Uncertain Dynamical Systems
• A survey of models, analysis tools and compensation methods for the control of machines with friction
• Closed-form dynamic equations of the general Stewart platform through the Newton-Euler approach.
• On adaptive friction compensation
• Parallel robots
• Theory of robot control

Cited in

(11)

• PD control with gravity compensation for hydraulic 6-DOF parallel manipulator
• Finite time position synchronised control for parallel manipulators using fast terminal sliding mode
• Improving path accuracy of a crank-type 6-dof parallel mechanism by stiction compensation
• Decentralized robust nonlinear control for six-degrees-of-freedom parallel robots
• Interaction control of robot manipulators. Six degrees-of-freedom tasks.
• The closed-form motion equation of redundant actuation parallel robot with joint friction: an application of the Udwadia-Kalaba approach
• Adaptive pose output decoupling for a hydraulically-driven 6-DOF parallel manipulator
• scientific article; zbMATH DE number 1552906 (Why is no real title available?)
• Control of a 6-DOF Parallel Manipulator through a Mechatronic Approach
• Adaptive fuzzy sliding mode and robust tracking control for manipulators with uncertain dynamics
• Nonlinear adaptive task space control for a 2-DOF redundantly actuated parallel manipulator

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