By Topic

PID and adaptive robust control of a 2-DOF over-actuated parallel manipulator for tracking different trajectory

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Y. K. Yiu ; Dept. of Electr. & Electron. Emg., Hong Kong Univ. of Sci. & Technol., Hong Kong, China ; Z. X. Li

In this paper, we describe our implementation of a PID and a model-based adaptive robust controllers for a 2-DOF parallel manipulator with actuator redundancy. In the dynamics model, we also implement simple friction models to compensate the frictions in the active joints, passive joints, as well as the multiple joint. Experiments are performed to show the effectiveness of the control algorithms to track different end-effector trajectory including point-to-point straight line trapezoidal and constant speed circular motion.

Published in:

Computational Intelligence in Robotics and Automation, 2003. Proceedings. 2003 IEEE International Symposium on  (Volume:3 )

Date of Conference:

16-20 July 2003