Hybrid Moment/Position Control of a Parallel Robot

In this paper, a hybrid moment/position controller in task space is proposed for tasks involving a contact between a robot and its environment. We consider a contour-tracking task performed by a six DOF (Degrees Of Freedom) parallel robot. The task space dynamic model of the robot in contact with it...

Ausführliche Beschreibung

Bibliographische Detailangaben

Veröffentlicht in:	International journal of control, automation, and systems automation, and systems, 2012, Vol.10 (3), p.536-546
Hauptverfasser:	Daachi, Mohamed El Hossine, Achili, Brahim, Daachi, Boubaker, Amirat, Yacine, Chikouche, Djamel
Format:	Artikel
Sprache:	kor
Online-Zugang:	Volltext
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!