Modeling and set point control of closed-chain mechanisms: theory and experiment

摘要: We derive a reduced model, that is, model in terms of independent generalized coordinates, for the equations motion closed-chain mechanisms. highlight fact has two special characteristics which make it different from models open-chain First, is defined locally coordinates. therefore characterize domain validity mechanism satisfies constraints and not singular configuration. Second, an implicit parts are expressed explicitly. Despite nature motion, we show mechanisms still satisfy skew symmetry property, proportional derivative (PD)-based control with so-called simple gravity compensation guarantees (local) asymptotic stability. discuss computational issues involved implementation proposed controller. The modeling PD approach illustrated experimentally using Rice planar delta robot was built to experiment