Passivity-based observer/controller design with desired dynamics compensation for 6 dofs parallel manipulators

Publikation: Beitrag in Buch/Bericht/Sammelwerk/KonferenzbandAufsatz in KonferenzbandForschungPeer-Review

Autoren

  • H. Abdellatif
  • Bodo Heimann
  • Jens Kotlarski

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Details

OriginalspracheEnglisch
Titel des Sammelwerks2008 IEEE/RSJ International Conference on Intelligent Robots and Systems
Seiten2392-2397
PublikationsstatusVeröffentlicht - 2008

Abstract

This article provides a tracking scheme for 6 dof’s parallel robots. It is based on a controller/observer combination with an additional compensation of the desired dynamics. The latter is necessary to avoid an online calculation of the direct kinematics. However, it introduces systematic errors. To take such deviations into account a passivity based formalism is used. The resulting approach is experimentally substantiated and proven to be highly powerful and robust against initial errors and model uncertainties.

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Passivity-based observer/controller design with desired dynamics compensation for 6 dofs parallel manipulators. / Abdellatif, H.; Heimann, Bodo; Kotlarski, Jens.
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2008. S. 2392-2397.

Publikation: Beitrag in Buch/Bericht/Sammelwerk/KonferenzbandAufsatz in KonferenzbandForschungPeer-Review

Abdellatif, H, Heimann, B & Kotlarski, J 2008, Passivity-based observer/controller design with desired dynamics compensation for 6 dofs parallel manipulators. in 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems. S. 2392-2397.
Abdellatif, H., Heimann, B., & Kotlarski, J. (2008). Passivity-based observer/controller design with desired dynamics compensation for 6 dofs parallel manipulators. In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (S. 2392-2397)
Abdellatif H, Heimann B, Kotlarski J. Passivity-based observer/controller design with desired dynamics compensation for 6 dofs parallel manipulators. in 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2008. S. 2392-2397
Abdellatif, H. ; Heimann, Bodo ; Kotlarski, Jens. / Passivity-based observer/controller design with desired dynamics compensation for 6 dofs parallel manipulators. 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2008. S. 2392-2397
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