PID and adaptive robust control of a 2-DOF over-actuated parallel manipulator for tracking different trajectory
作者： Y.K. Yiu , Z.X. Li
DOI: 10.1109/CIRA.2003.1222142
关键词:
摘要: In this paper, we describe our implementation of a PID and model-based adaptive robust controllers for 2-DOF parallel manipulator with actuator redundancy. the dynamics model, also implement simple friction models to compensate frictions in active joints, passive as well multiple joint. Experiments are performed show effectiveness control algorithms track different end-effector trajectory including point-to-point straight line trapezoidal constant speed circular motion.
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