Title :
System debugging and experimental analysis of the 6-PUS/UPU parallel manipulator
Author :
Zhao Yongsheng ; Yanbin, Duan ; Shunpan, Liang ; Yuchao, Dou ; Daxing, Zeng
Author_Institution :
Sch. of MECE, Beijing Jiaotong Univ., Beijing, China
Abstract :
In this paper, a novel 6-PUS/UPU parallel manipulator is presented. The kinematics of the parallel manipulator is analyzed firstly. Then a PID control system is actualized on the manipulator based on the results of kinematics analysis, and the debug results are verified. The work in this paper has significance for the application of the manipulator.
Keywords :
computer debugging; manipulator kinematics; three-term control; 6-PUS/UPU parallel manipulator; PID control; kinematic analysis; system debugging; Feedforward neural networks; Manipulators; PID control system; kinematics; parallel manipulator;
Conference_Titel :
Computer, Mechatronics, Control and Electronic Engineering (CMCE), 2010 International Conference on
Conference_Location :
Changchun
Print_ISBN :
978-1-4244-7957-3
DOI :
10.1109/CMCE.2010.5609952
