Advanced Model-Based Control of a 6-DOF Hexapod Robot: A Case Study

In the vast majority of publications, it is noticeably claimed that parallel robots or manipulators are supposed to perform better than their serial counterparts. However, in practice, such mechanisms suffer from many problems, as theoretically provided potentials are difficult to exploit. This pape...

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Veröffentlicht in:	IEEE/ASME transactions on mechatronics 2010-04, Vol.15 (2), p.269-279
Hauptverfasser:	Abdellatif, H., Heimann, B.
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuators Centralized control Computational modeling Control systems Design engineering Dynamic range Dynamics Error correction Feedforward identification Manipulator dynamics Manipulators Mechatronics model-based control Parallel robots Parameter estimation Position measurement Robot arms Robots Robust control Studies
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