PD control with gravity compensation for hydraulic 6-DOF parallel manipulator

DOI10.1016/J.MECHMACHTHEORY.2009.12.001zbMath1254.70016OpenAlexW2149364867MaRDI QIDQ985927

O. Ogbobe Peter, Chifu Yang, Qitao Huang, Hongzhou Jiang, Jun-Wei Han

Publication date: 9 August 2010

Published in: Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.mechmachtheory.2009.12.001

zbMATH Keywords

parallel manipulatorproportional-derivative controldynamic compensationhydraulic servo-systems

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)

Related Items (3)

A new RISE-based adaptive control of PKMs: design, stability analysis and experiments ⋮ Position control of a 3-CPU spherical parallel manipulator ⋮ Modal decoupled dynamics feed-forward active force control of spatial multi-DOF parallel robotic manipulator

Cites Work

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• A Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator
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• Robust nonlinear task space control for 6 DOF parallel manipulator
• Inverse dynamic analysis and simulation of a platform type of robot
• Modeling and control for a Gough‐Stewart platform CNC machine
• On the PID tracking control of robot manipulators

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