Nonlinear adaptive task space control for a 2-DOF redundantly actuated parallel manipulator

DOI10.1007/S11071-009-9520-1zbMath1183.70029OpenAlexW2039269682MaRDI QIDQ2380534

Shuang Cong, Wei Wei Shang

Publication date: 29 March 2010

Published in: Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11071-009-9520-1

zbMATH Keywords

task spacenonlinear adaptive controlparallel manipulatorredundant actuationCoulomb + viscous friction

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

Related Items (4)

Statistical analysis of tracking and parametric estimation errors in a 2-link robot based on Lyapunov function ⋮ A new RISE-based adaptive control of PKMs: design, stability analysis and experiments ⋮ Trajectory tracking control of parallel manipulator based on Udwadia-Kalaba approach ⋮ Dynamic model based nonlinear tracking control of a planar parallel manipulator

Cites Work

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• Robust nonlinear task space control for 6 DOF parallel manipulator
• Adaptive manipulator control: A case study
• Adaptive control of robot manipulators in task space

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