DocumentCode
2052669
Title
Proposal of a new forward kinematics calculating method and control law for parallel link manipulators
Author
Osuka, Koichi ; Kubo, Hitoshi ; Minase, Yuki ; Ueshima, Kazuro ; Nakamura, Yoichi
Author_Institution
Kobe Univ.
fYear
2005
fDate
24-28 July 2005
Firstpage
624
Lastpage
631
Abstract
In this paper, we propose a novel solving method of forward kinematics problem for PLMs and construct a task coordinated feedback control which used the character of Jacobian and made calculation easy. Then we prove the stability of this control system and verify the validity by the simulation and experiment
Keywords
Jacobian matrices; feedback; manipulator kinematics; stability; Jacobian character; control law; control system stability; forward kinematics calculating method; parallel link manipulators; task coordinated feedback control; Control system synthesis; Control systems; Couplings; Design methodology; End effectors; Feedback control; Iterative methods; Jacobian matrices; Kinematics; Proposals;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Intelligent Mechatronics. Proceedings, 2005 IEEE/ASME International Conference on
Conference_Location
Monterey, CA
Print_ISBN
0-7803-9047-4
Type
conf
DOI
10.1109/AIM.2005.1511052
Filename
1511052
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