Details
| Original language | English |
|---|---|
| Title of host publication | 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems |
| Pages | 2392-2397 |
| Publication status | Published - 2008 |
Abstract
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2008 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2008. p. 2392-2397.
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Passivity-based observer/controller design with desired dynamics compensation for 6 dofs parallel manipulators
AU - Abdellatif, H.
AU - Heimann, Bodo
AU - Kotlarski, Jens
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
M3 - Conference contribution
SP - 2392
EP - 2397
BT - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems
ER -