Trajectory Errors of the 6-PGK Parallel Robot

IF 2.6 3区数学 Q1 MATHEMATICS, INTERDISCIPLINARY APPLICATIONS

Journal of Systems Science & Complexity Pub Date : 2008-11-08 DOI:10.1109/CANS.2008.11

L. Moldovan

引用次数: 5

Abstract

This paper presents a method to determinate a desired trajectory for the manipulated object by the 6-PGK parallel robot, with an imposed velocity, when some vibration motions act in the prismatic motor joints. By using the Lagrangian approach the dynamic equations of motion of the parallel robot were deduced. The supplementary generalized forces that must be introduced in system to correct the trajectory errors have been computed from these equations.

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6-PGK并联机器人的轨迹误差

本文提出了6-PGK并联机器人在施加速度的情况下，在移动马达关节处发生振动运动时，确定被操纵物体运动轨迹的方法。利用拉格朗日方法推导了并联机器人的动力学方程。由这些方程计算出了修正轨迹误差所必须引入的补充广义力。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Systems Science & Complexity 数学-数学跨学科应用

CiteScore

3.80

自引率

9.50%

发文量

审稿时长

6-12 weeks

期刊介绍： The Journal of Systems Science and Complexity is dedicated to publishing high quality papers on mathematical theories, methodologies, and applications of systems science and complexity science. It encourages fundamental research into complex systems and complexity and fosters cross-disciplinary approaches to elucidate the common mathematical methods that arise in natural, artificial, and social systems. Topics covered are: complex systems, systems control, operations research for complex systems, economic and financial systems analysis, statistics and data science, computer mathematics, systems security, coding theory and crypto-systems, other topics related to systems science.