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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Hongrui Wang Li Ma Jinzhuang Xiao Hui Dong |
| Copyright Year | 2010 |
| Description | Author affiliation: College of electronic and information engineering, Hebei University, Baoding 071002, China (Hongrui Wang; Jinzhuang Xiao; Hui Dong) || College of information science and technology, Agricultural University of Hebei, Baoding 071000, China (Li Ma) |
| Abstract | The paper studied a dynamic model for a 6-PSS parallel robot. First, a general method to calculate the inverse dynamics model of the parallel robot has been given out, and then the direct dynamics model with Lagrange method has been established. Comparing with the traditional method which use the input as the generalized coordinates, using pose as a method of generalized coordinates can greater improve the computer-controlled real-time control. The model is expressed in a closed form by a single equation in which all the elements need are expressed. The proposed method is applied in this paper on the dynamics-depth analysis and optimal control. |
| Starting Page | 942 |
| Ending Page | 946 |
| File Size | 152152 |
| Page Count | 5 |
| File Format | |
| ISBN | 9781424451951 |
| ISSN | 19483457 |
| DOI | 10.1109/ICCA.2010.5524406 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2010-06-09 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Parallel robots Jacobian matrices Lagrangian functions Kinematics Agricultural engineering Equations Acceleration Automatic control Robotics and automation Inverse problems |
| Content Type | Text |
| Resource Type | Article |
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