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On the adequation of dynamic modelling and control of parallel kinematic manipulators
- Source :
- International Conference on Multibody System Dynamics., 1st Joint International Conference on Multibody System Dynamics (IMSD'10)., 1st Joint International Conference on Multibody System Dynamics (IMSD'10)., May 2010, Lappeenranta, Finland. 10 p
- Publication Year :
- 2010
- Publisher :
- HAL CCSD, 2010.
-
Abstract
- International audience; This paper addresses the problem of controlling the dynamics of parallel kinematic manipulators from a global point of view, where modeling, sensing and control are considered simultaneously. The methodology is presented through the examples of the Gough-Stewart manipulator and the Quattro robot.
- Subjects :
- Computer Science::Robotics
dynamic modelin
vision-based control
[SPI.NANO] Engineering Sciences [physics]/Micro and nanotechnologies/Microelectronics
[SPI.NANO]Engineering Sciences [physics]/Micro and nanotechnologies/Microelectronics
Parallel kinematic manipulators
computed torque control
Subjects
Details
- Language :
- English
- Database :
- OpenAIRE
- Journal :
- International Conference on Multibody System Dynamics., 1st Joint International Conference on Multibody System Dynamics (IMSD'10)., 1st Joint International Conference on Multibody System Dynamics (IMSD'10)., May 2010, Lappeenranta, Finland. 10 p
- Accession number :
- edsair.dedup.wf.001..f3ce966c74789e7d5792d34678c2f8eb