Adaptive Control of a Cable-Actuated Parallel Manipulator Mounted on a Platform with Differential Wheels under Payload Uncertainty
نویسندگان
چکیده
منابع مشابه
Spherically actuated platform manipulator
This article presents the inverse and forward pose and rate kinematics solutions for a novel 6-dof platform manipulator, actuated by two base-mounted spherical actuators. The moving platform is connected to the fixed base by two identical SPU serial chain legs. The S-joint is active, and the remaining two joints in each chain are passive. An analytical solution is presented for the inverse pose...
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∗ Corresponding author, Phone: (716) 645-1430, Fax: (716) 645-3668, Email: [email protected]. ABSTRACT Cable-actuated parallel manipulators combine benefits of large workspaces, significant payload capacities and high stiffness by virtue of the cable actuation. However, redundant/surplus cables are required to overcome the unidirectional nature of forces exertable by cables. This leads to ...
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ژورنال
عنوان ژورنال: Scientia Iranica
سال: 2018
ISSN: 2345-3605
DOI: 10.24200/sci.2018.5100.1095