并联直驱机械臂的动力学考虑及运动控制实验

Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI:10.1109/ICAR.1991.240406

T. Kokkinis, Y. Nakamura, D. Uecker, Yulun Wang

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引用次数: 5

摘要

讨论了具有闭链机械结构的并联机械臂的逆动力学问题，并给出了非线性反演在运动控制中的应用。他们展示了基于空间五杆三自由度连杆的并联直驱机器人手臂原型的实验运动控制结果，并使用了多种控制算法。最后，他们给出了一些与机械臂的动态参数辨识相关的结果。

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Dynamic considerations and motion control experiments for a parallel direct-drive robot arm

The authors discuss the inverse dynamics of parallel robot arms with closed-chain mechanical structure and show the implications for motion control using nonlinear inversion. They demonstrate the experimental motion control results for the prototype parallel direct-drive robot arm, which is based on a spatial 5-bar linkage with 3 degrees of freedom, using a variety of control algorithms. Finally they present certain results for the dynamic parameters of the arm, which are relevant to their identification.<>

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Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments

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