Details
| Originalsprache | Englisch |
|---|---|
| Titel des Sammelwerks | Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 |
| Seiten | 2024-2029 |
| Seitenumfang | 6 |
| Publikationsstatus | Veröffentlicht - 2005 |
| Veranstaltung | 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 - Seville, Spanien Dauer: 12 Dez. 2005 → 15 Dez. 2005 |
Abstract
This paper presents a compact and complete approach for realizing high performant control of fully parallel manipulators with a computed-force control scheme (CFC). The proposed method of dynamics computation is based on the principal of virtual power and allows real-time implementation without falling back on inaccurate model simplifications. The efficiency and performance is demonstrated on a 6-dof complex parallel manipulator within commercial control hardware setup. Crucial points for the enhancement of tracking performance are discussed in details.
ASJC Scopus Sachgebiete
- Ingenieurwesen (insg.)
- Allgemeiner Maschinenbau
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Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05. 2005. S. 2024-2029 1582458.
Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review
}
TY - GEN
T1 - High efficient dynamics calculation approach for computed-force control of robots with parallel structures
AU - Abdellatif, H.
AU - Grotjahn, Martin
AU - Heimann, Bodo
PY - 2005
Y1 - 2005
N2 - This paper presents a compact and complete approach for realizing high performant control of fully parallel manipulators with a computed-force control scheme (CFC). The proposed method of dynamics computation is based on the principal of virtual power and allows real-time implementation without falling back on inaccurate model simplifications. The efficiency and performance is demonstrated on a 6-dof complex parallel manipulator within commercial control hardware setup. Crucial points for the enhancement of tracking performance are discussed in details.
AB - This paper presents a compact and complete approach for realizing high performant control of fully parallel manipulators with a computed-force control scheme (CFC). The proposed method of dynamics computation is based on the principal of virtual power and allows real-time implementation without falling back on inaccurate model simplifications. The efficiency and performance is demonstrated on a 6-dof complex parallel manipulator within commercial control hardware setup. Crucial points for the enhancement of tracking performance are discussed in details.
UR - http://www.scopus.com/inward/record.url?scp=33847187417&partnerID=8YFLogxK
U2 - 10.1109/CDC.2005.1582458
DO - 10.1109/CDC.2005.1582458
M3 - Conference contribution
AN - SCOPUS:33847187417
SN - 0780395689
SN - 9780780395688
SP - 2024
EP - 2029
BT - Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
T2 - 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Y2 - 12 December 2005 through 15 December 2005
ER -