Model-based trajectory tracking control of a planar parallel robot with redundancies
By (author) Jens Kroneis
Paperback (Published)
(September 2011)
ISBN: 9783832529192
5.71 x 8.27 inches
Price: $60.00
Out of stock
In industrial practice parallel kinematic structures start to replace serial ones, in case of time-sensitive, highly dynamical applications or processes requiring a high structural rigidity of the robots. But the high complexity of their dynamic models is still the biggest impediment for the realization of model based trajectory tracking control strategies.In this thesis a holistic concept for the model-based trajectory tracking control of a special class of parallel robots – containing functional or structural redundancies (complex parallel robots) – is introduced. Since for these robots – due to the high complexity of their dynamic models – sophisticated model-based strategies for trajectory tracking control cannot be directly applied, a new concept is necessary. It mainly bases upon the derivation of real-time implementable compact dynamic models for the studied class of robots. But compact dynamic models are only a first step on the way to a model-based trajectory tracking control with high path accuracy and a low traveling time. Additionally, appropriate designed trajectories are required. For planning them a new strategy has been developed and successfully applied.The holistic approach covering also aspects like parameter identification and velocity estimation has been successfully demonstrated at a planar parallel robot including experimental results.
- By (author) Jens Kroneis
Other Titles in this Series
Similar Books
![Book cover: Transitive Media [Philosophy]](https://isd.stisonbooks.com/images/books/native/9781804132326.jpg?asset_id=66970)
Care in an Era of New Technologies and Artificial Intelligence
Relationships in a Connected World
Volume 14
Buchblogs zwischen Passion und Profession
Zur Diskursivierung digitaler literaturbezogener Anschlusskommunikation als Arbeit
Die Einführung ins richtige Handeln in der Arithmetik (Madḫal ar-rašad ilā ʿilm al-ʿadad) von al-Qalaṣādī (st. 1486)
Bearbeitung und Einordnung in die maġribinische Mathematikgeschichte
Volume 19
Digitale Medien und Religionsunterricht
Ein domänenspezifischer Beitrag zu einer kritischen Medienbildung unter Berücksichtigung medien-, bildungs- und lerntheoretischer Perspektiven
Ein Glucksritter als Wegbereiter der Motorisierung
Der Basler Kaufmann Eduard Burckhardt (1847-1897)
Partizipative Produktentwicklung in der Modeindustrie
Methoden, Vorgehensmodelle und ihre Anwendung in der Wertschöpfung smarter Outdoorbekleidung
Heterarchical Production Planning and Control Architectures in the Context of Industry 4.0
Complexity-based Selection and Guidance for Implementation
Volume 67
Proceedings of the 7th Symposium of the Hellenic Society for Archaeometry
Archaeology Archaeometry: 30 Years Later
I disegni e i discorsi di Giovanni Antonio Nigrone vol. I
fontanaro e ingegniero de acqua (1585-1609 ca.)
Volume 481
I disegni e i discorsi di Giovanni Antonio Nigrone vol. II
Fontanaro e ingegniero de acqua (1585-1609 ca.)
Volume 497
