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题名: Hybrid force/position control investigation of parallel machine tool with redundant actuation
作者: Tang, Haitao ; Yao JT(姚建涛) ; Cheng L(程丽) ; Zhao YS(赵永生)
作者部门: 机器人学研究室
会议名称: 2nd International Conference on Frontiers of Manufacturing and Design Science, ICFMD 2011
会议日期: December 11-13, 2011
会议地点: Taichung, Taiwan
会议主办者: Control Eng. Inf. Sci. Res. Assoc. (CEIS); Int. Front. Sci. Technol. Res. Assoc.; National Chin-Yi University of Technology; Integrated Research Center for Green Living Techniques; Trans Tech Publications
会议录: Applied Mechanics and Materials
会议录出版者: Trans Tech Publications
会议录出版地: Clausthal-Zellerfeld, Germany
出版日期: 2011
页码: 2040-2044
收录类别: CPCI(ISTP) ; EI
ISSN号: 1660-9336
ISBN号: 978-3037852828
关键词: Experiments ; Inverse kinematics ; Manufacture
摘要: A novel redundantly actuated parallel machine tool was introduced. The inverse kinematic of 5-UPS/PRPU PMT with redundant actuation was analysed and the driven force of redundant actuation limb was planned. The force/position hybrid control strategy and dynamic differential calculation control strategy were proposed. Then the experiment of evaluating dynamics in the position control mode and in the force/position hybrid control was carried out respectively. The experiment shows that, the force/position hybrid control can improve driven torque of each limb better, balance the load of each limb and is of great help for enhance the dynamic performance of entire PMT.
产权排序: 2
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/9873
Appears in Collections:机器人学研究室_会议论文

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