Details
| Original language | English |
|---|---|
| Title of host publication | Proceedings, 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. |
| Pages | 632-637 |
| Number of pages | 6 |
| Publication status | Published - 2005 |
| Event | 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 - Monterey, CA, United States Duration: 24 Jul 2005 → 28 Jul 2005 |
Publication series
| Name | IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics |
|---|---|
| Publisher | IEEE |
| ISSN (Print) | 2159-6247 |
| ISSN (electronic) | 2159-6255 |
Abstract
The innovative parallel manipulator PaLiDA is the subject of this paper. Main aspects are treated from the design and concept of the drives to the advanced control concept of the complete system. A commercial direct linear drive is integrated into newly designed struts variable in length. The system's design and the strut's arrangement are carried out basing on the optimization of the workspace and stiffness. A highly efficient approach for the calculation of the dynamics is presented. It differs from the classical one by the uniform consideration of rigid-body and friction dynamics. The implementation of the model in feedforward control with additional partial decoupling of actuator dynamics is shown. The paper is completed with experimental results that demonstrate the quality of the achieved control in the range of high-speed manipulation and machining.
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Computer Science(all)
- Software
- Computer Science(all)
- Computer Science Applications
- Engineering(all)
- Electrical and Electronic Engineering
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Proceedings, 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.. 2005. p. 632-637 ( IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics ).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Design, modeling and advanced control of the innovative parallel manipulator PaLiDA
AU - Denkena, Berend
AU - Heimann, Bodo
AU - Abdellatif, H.
AU - Holz, Christian
PY - 2005
Y1 - 2005
N2 - The innovative parallel manipulator PaLiDA is the subject of this paper. Main aspects are treated from the design and concept of the drives to the advanced control concept of the complete system. A commercial direct linear drive is integrated into newly designed struts variable in length. The system's design and the strut's arrangement are carried out basing on the optimization of the workspace and stiffness. A highly efficient approach for the calculation of the dynamics is presented. It differs from the classical one by the uniform consideration of rigid-body and friction dynamics. The implementation of the model in feedforward control with additional partial decoupling of actuator dynamics is shown. The paper is completed with experimental results that demonstrate the quality of the achieved control in the range of high-speed manipulation and machining.
AB - The innovative parallel manipulator PaLiDA is the subject of this paper. Main aspects are treated from the design and concept of the drives to the advanced control concept of the complete system. A commercial direct linear drive is integrated into newly designed struts variable in length. The system's design and the strut's arrangement are carried out basing on the optimization of the workspace and stiffness. A highly efficient approach for the calculation of the dynamics is presented. It differs from the classical one by the uniform consideration of rigid-body and friction dynamics. The implementation of the model in feedforward control with additional partial decoupling of actuator dynamics is shown. The paper is completed with experimental results that demonstrate the quality of the achieved control in the range of high-speed manipulation and machining.
UR - http://www.scopus.com/inward/record.url?scp=27644471520&partnerID=8YFLogxK
U2 - 10.1109/aim.2005.1511053
DO - 10.1109/aim.2005.1511053
M3 - Conference contribution
AN - SCOPUS:27644471520
SN - 0-7803-9047-4
T3 - IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics
SP - 632
EP - 637
BT - Proceedings, 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.
T2 - 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005
Y2 - 24 July 2005 through 28 July 2005
ER -