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Model-based control of a 3-DOF parallel robot based on identified relevant parameters

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Model-based control of a 3-DOF parallel robot based on identified relevant parameters

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Díaz-Rodríguez, M.; Valera Fernández, Á.; Mata Amela, V.; Vallés Miquel, M. (2013). Model-based control of a 3-DOF parallel robot based on identified relevant parameters. IEEE/ASME Transactions on Mechatronics. 18(6):1737-1744. doi:10.1109/TMECH.2012.2212716

Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10251/38665

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Title: Model-based control of a 3-DOF parallel robot based on identified relevant parameters
Author:
UPV Unit: Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica
Universitat Politècnica de València. Departamento de Ingeniería Mecánica y de Materiales - Departament d'Enginyeria Mecànica i de Materials
Universitat Politècnica de València. Centro de Investigación en Tecnología de Vehículos - Centre d'Investigació en Tecnologia de Vehicles
Issued date:
Abstract:
This paper presents in detail how to model, identify, and control a 3-DOF prismatics-revolute-spherical parallel manipulator in terms of relevant parameters. A reduced model based on a set of relevant parameters is obtained ...[+]
Subjects: Dynamic parameter identification , Model-based control , Parallel robots , Robot control
Copyrigths: Cerrado
Source:
IEEE/ASME Transactions on Mechatronics. (issn: 1083-4435 )
DOI: 10.1109/TMECH.2012.2212716
Publisher:
Institute of Electrical and Electronics Engineers (IEEE)
Publisher version: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6287595
Thanks:
This work was supported in part by the Spanish Government under Grant DPI2010-20814-C02-01 (IDEMOV) and in part by the Consejo de Desarrollo Cientifico, Humanistico y Tecnologico de la Universidad de Los Andes (CDCHT-ULA) ...[+]
Type: Artículo

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