Details
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 16th IFAC World Congress, IFAC 2005 |
| Publisher | IFAC Secretariat |
| Pages | 493-498 |
| Number of pages | 6 |
| ISBN (print) | 008045108X, 9780080451084 |
| Publication status | Published - 2005 |
Publication series
| Name | IFAC Proceedings Volumes (IFAC-PapersOnline) |
|---|---|
| Volume | 16 |
| ISSN (Print) | 1474-6670 |
Abstract
Most challenging aspects in the control of complex parallel mechanisms or robotic manipulators is how to deal with the high system nonlinearity and with the coupled dynamics. These aspects can be satisfied by integrating the pose dependent inertia or mass matrix into the control scheme. To satisfy the requirements of real-time application, this paper presents a high efficient method to compute the mass matrix of arbitrarily complex parallel manipulators. Model simplification become dispensable, which leads necessarily to the improvement of control accuracy.
Keywords
- Decoupling control, Mass matrix, Nonlinear dynamics, Parallel manipulators, Robotic manipulators
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
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Proceedings of the 16th IFAC World Congress, IFAC 2005. IFAC Secretariat, 2005. p. 493-498 (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 16).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Applying efficient computation of the mass matrix for decoupling control of complex parallel manipulators
AU - Abdellatif, H.
AU - Heimann, Bodo
AU - Holz, Christian
PY - 2005
Y1 - 2005
N2 - Most challenging aspects in the control of complex parallel mechanisms or robotic manipulators is how to deal with the high system nonlinearity and with the coupled dynamics. These aspects can be satisfied by integrating the pose dependent inertia or mass matrix into the control scheme. To satisfy the requirements of real-time application, this paper presents a high efficient method to compute the mass matrix of arbitrarily complex parallel manipulators. Model simplification become dispensable, which leads necessarily to the improvement of control accuracy.
AB - Most challenging aspects in the control of complex parallel mechanisms or robotic manipulators is how to deal with the high system nonlinearity and with the coupled dynamics. These aspects can be satisfied by integrating the pose dependent inertia or mass matrix into the control scheme. To satisfy the requirements of real-time application, this paper presents a high efficient method to compute the mass matrix of arbitrarily complex parallel manipulators. Model simplification become dispensable, which leads necessarily to the improvement of control accuracy.
KW - Decoupling control
KW - Mass matrix
KW - Nonlinear dynamics
KW - Parallel manipulators
KW - Robotic manipulators
UR - http://www.scopus.com/inward/record.url?scp=79960716515&partnerID=8YFLogxK
U2 - 10.3182/20050703-6-cz-1902.01352
DO - 10.3182/20050703-6-cz-1902.01352
M3 - Conference contribution
AN - SCOPUS:79960716515
SN - 008045108X
SN - 9780080451084
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
SP - 493
EP - 498
BT - Proceedings of the 16th IFAC World Congress, IFAC 2005
PB - IFAC Secretariat
ER -