Title: Dynamics analysis and learning control for 3-PRPS platform

Authors: Hua-Yi Chuang, Yung-Chih Chang

Addresses: Department of Mechanical Engineering, National Taiwan University of Science and Technology, Keelung Road, Section 4, Taipei, Taiwan, Republic of China. Department of Mechanical Engineering, National Taiwan University of Science and Technology, Keelung Road, Section 4, Taipei, Taiwan, Republic of China

Abstract: Employing a mathematical model to represent the dynamics of robot manipulators is a extremely difficult and complicated task. This study presents the dynamic analysis of parallel robot manipulators. The dynamic equations are first formulated in Cartesian space and then transformed into the joint space. Once the dynamic equations are derived, the D-type learning control algorithm is proposed to reduce position-tracking errors. The convergence conditions are also derived to ensure stability of the control systems. Moreover, a PC based, 3-PRPS platform control system is constructed to closely examine the effects of the D-type learning controller.

Keywords: computer control; parallel robotics; kinematics; dynamics; learning control.

DOI: 10.1504/IJCAT.2001.000274

International Journal of Computer Applications in Technology, 2001 Vol.14 No.4/5/6, pp.204-214

Published online: 15 Jul 2003 *

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