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.
International Journal of Computer Applications in Technology, 2001 Vol.14 No.4/5/6, pp.204-214
Published online: 15 Jul 2003 *Full-text access for editors Full-text access for subscribers Purchase this article Comment on this article