DocumentCode
2191688
Title
Linear control of a spherical parallel manipulator
Author
Jinfeng, Huang ; Zhijie, Yang ; Zhanxian, Li ; Qizhi, Ding
Author_Institution
Coll. of Mech. Eng., Hebei United Univ., Tangshan, China
fYear
2011
fDate
9-11 Sept. 2011
Firstpage
317
Lastpage
320
Abstract
The linear control method was proposed to control a parallel manipulator with certain motion trajectory of shift operation. Through optimizing the distribution of mechanism, parallel manipulator was controlled with existing commercial controllers. Motion precision of parallel manipulator was improved to the uttermost by parameter optimization. In addition, the mechanism is affected slightly by changes of structural parameters and is calibration-free.
Keywords
manipulators; motion control; linear control method; parameter optimization; shift operation motion trajectory; spherical parallel manipulator; Aerospace electronics; Educational institutions; Interpolation; Joints; Manipulators; Trajectory; linear control; shift manipulator; spherical parallel mechanism;
fLanguage
English
Publisher
ieee
Conference_Titel
Electronics, Communications and Control (ICECC), 2011 International Conference on
Conference_Location
Zhejiang
Print_ISBN
978-1-4577-0320-1
Type
conf
DOI
10.1109/ICECC.2011.6067570
Filename
6067570
Link To Document