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Application of the design for control approach for the integrated design and control of parallel robots

หน่วยงาน Nanyang Technological University, Singapore

รายละเอียด

ชื่อเรื่อง : Application of the design for control approach for the integrated design and control of parallel robots
นักวิจัย : Li, Qing
คำค้น : DRNTU::Engineering::Mechanical engineering::Control engineering
หน่วยงาน : Nanyang Technological University, Singapore
ผู้ร่วมงาน : -
ปีพิมพ์ : 2557
อ้างอิง : Li, Q. (2014). Application of the Design For Control Approach for the Integrated Design and Control of Parallel Robots . Journal of Dynamic Systems, Measurement, and Control, 136(4), 044501-. , 0022-0434 , http://hdl.handle.net/10220/19799 , http://dx.doi.org/10.1115/1.4026664
ที่มา : -
ความเชี่ยวชาญ : -
ความสัมพันธ์ : Journal of dynamic systems, measurement, and control
ขอบเขตของเนื้อหา : -
บทคัดย่อ/คำอธิบาย :

To effectively control a complex mechanical structure for precise performance, a model-based type of controller is usually desired. In cases of controlling parallel robots, however, the iterative computation due to the complexity of the dynamic models can result in difficulties in controller implementations and system stability analysis. To avoid this problem, simplified dynamic models can be obtained through approximation, nevertheless, performance accuracy will suffer due to simplification. This paper suggests applying the effective Design For Control (DFC) approach to handle this problem. The underlying idea of the DFC approach is that, no matter how complex a system is, as long as its mechanical structure can be judiciously designed such that it results in a simple dynamic model, a simple control algorithm may be good enough for a satisfactory control performance. Through out the discussion in the paper, the integrated design and control of a two DOF parallel robot is studied as an illustration example. Experimental validation has demonstrated the effectiveness of the DFC approach.

บรรณานุกรม :
Li, Qing . (2557). Application of the design for control approach for the integrated design and control of parallel robots.
    กรุงเทพมหานคร : Nanyang Technological University, Singapore.
Li, Qing . 2557. "Application of the design for control approach for the integrated design and control of parallel robots".
    กรุงเทพมหานคร : Nanyang Technological University, Singapore.
Li, Qing . "Application of the design for control approach for the integrated design and control of parallel robots."
    กรุงเทพมหานคร : Nanyang Technological University, Singapore, 2557. Print.
Li, Qing . Application of the design for control approach for the integrated design and control of parallel robots. กรุงเทพมหานคร : Nanyang Technological University, Singapore; 2557.