Force computation and continuous path tracking for hydraulic parallel manipulators

被引：19

作者：

Chin, Jih-Hua ^{[1
]}

Sun, Yen-His ^{[1
]}

Cheng, Ming Cheng ^{[2
]}

机构：

[1] Natl Chiao Tung Univ, Dept Mech Engn, Hsinchu 300, Taiwan

[2] Kao Yuan Univ, Dept Mech & Automat Engn, Luchu 821, Kaohsiung Cty, Taiwan

来源：

CONTROL ENGINEERING PRACTICE | 2008年 / 16卷 / 06期

关键词：

hydraulic manipulator; parallel manipulator; contour tracking; computed force control; cross-coupled tracking; pre-compensation tracking;

D O I：

10.1016/j.conengprac.2007.08.007

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Machine tools, robots and parallel manipulators are useful platforms in manufacturing. For parallel manipulators, developing contour tracking ability and clarifying the role of force computation are of significance. This work presents a novel contour tracking control with force Computation for hydraulic parallel manipulators. Different trajectories are used to evaluate the tracking errors on an empirical hydraulic parallel manipulator. The proposed control law and tracking systems are effective and the force computation is proven highly effective in the frame of the contour tracking system. (C) 2007 Elsevier Ltd. All rights reserved.

引用

页码：697 / 709

页数：13

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