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Hybrid force/position control investigation of parallel machine tool with redundant actuation
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
会议录名称Applied Mechanics and Materials
出版者Trans Tech Publications
出版地Clausthal-Zellerfeld, Germany
2011
页码2040-2044
收录类别EI ; CPCI(ISTP)
EI收录号20114714533563
WOS记录号WOS:000307425401071
产权排序2
ISSN号1660-9336
ISBN号978-3-03785-282-8
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.
语种英语
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被引频次:6[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/9873
专题机器人学研究室
作者单位1.College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei Province, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, Liaoning Province, China
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GB/T 7714
Tang, Haitao,Yao JT,Cheng L,et al. Hybrid force/position control investigation of parallel machine tool with redundant actuation[C]//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. Clausthal-Zellerfeld, Germany:Trans Tech Publications,2011:2040-2044.
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