3 - [P2(US)]并联机器人最优轨迹自适应反演鲁棒控制

IF 0.8 4区计算机科学 Q4 AUTOMATION & CONTROL SYSTEMS

International Journal of Robotics & Automation Pub Date : 2019-05-13 DOI:10.15406/iratj.2019.05.00181

Mahmood Mazare, M. Taghizadeh

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引用次数: 3

摘要

并联机器人广泛应用于各种工程和工业应用领域，如机床、飞行模拟器、地震模拟器、医疗设备等。然而，它们存在工作空间小而复杂、平移和旋转运动结合以及关节间隙等局限性。它们也受到其他限制的限制，例如奇点的存在，为了有效和高效的使用，应该研究和分析奇点。因此，它们复杂的动力学和正运动学需要非常复杂的实时控制

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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Adaptive back–stepping robust control of a 3–[P2(US)] parallel robot on optimal trajectory

Parallel robots are widely used in various fields of engineering and industrial applications such as, machine tools, flight simulators, earthquake simulators, medical equipment and etc. However, they have some limitations such as small and complex workspace, combination of translational and rotational motions and clearance in joints. They are also restricted by other limitations such as existence of singular points which should be studied and analysed for effective and efficient use. Therefore, their complex dynamics and forward kinematics require a very sophisticated real time control.1–3

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来源期刊

International Journal of Robotics & Automation 工程技术-机器人学

CiteScore

1.20

自引率

44.40%

发文量

审稿时长

8 months

期刊介绍： First published in 1986, the International Journal of Robotics and Automation was one of the inaugural publications in the field of robotics. This journal covers contemporary developments in theory, design, and applications focused on all areas of robotics and automation systems, including new methods of machine learning, pattern recognition, biologically inspired evolutionary algorithms, fuzzy and neural networks in robotics and automation systems, computer vision, autonomous robots, human-robot interaction, microrobotics, medical robotics, mobile robots, biomechantronic systems, autonomous design of robotic systems, sensors, communication, and signal processing.