Dynamic Modeling and Robust Controller Design of a Two-Stage Parallel Cable Robot
โ Scribed by So-Ryeok Oh; Kalyan K. Mankala; Sunil K. Agrawal; James S. Albus
- Publisher
- Springer
- Year
- 2005
- Tongue
- English
- Weight
- 289 KB
- Volume
- 13
- Category
- Article
- ISSN
- 1384-5640
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This paper presents the methodology of the kinematic and dynamic modeling for a newly developed parallel robot with the so-called Tau configuration. A set of analytical kinematic solutions has been developed for this parallel structure. A rigid body dynamic model has been formulated based on the pri
## Abstract We propose an __โ๏ธ__~โ~ controller design method which achieves a closedโloop transfer function equal or otherwise sensibly close to a desired transfer function, viz. a model reference design. The proposed controller design method inherits the model reference feature of the internal mod