@inproceedings{6390f58b708d4659a97de18e1ce3f50a,
title = "Development of a type of planar parallel robot",
abstract = "This paper presents a type of 2-DOF planar parallel robot that is of high speed and high precision characteristics. Each active joint of the robotic manipulator. consists of an AC servo motor and harmonic drive transmission, while the load-side angle displacement is fed back to the position. controller of active joint in order to improve its resolution. Kineto-Elastodynamic analysis and simulation of the robotic manipulator are implemented through a combination of finite elements and component mode synthesis methods. Then, the load-side PD control for active joint is refined by an acceleration feedback loop that is designed to enhance flexible joint's damping and suppress dynamic coupling among active joints. Experiment of trajectory tracking is conducted on the robot system and the result is presented to confirm the effectiveness of the proposed control algorithm, contrasted with that obtained by classical PD control without the acceleration feedback loop.",
keywords = "Acceleration feedback control, Harmonic drive, Kineto-Elastodynamic, Planar parallel robot",
author = "Yanjie Liu and Lining Sun and Hegao Cai",
year = "2004",
language = "英语",
isbn = "7111140737",
series = "Proceeding of the 2004 the Eleventh World Congress in Mechanism and Machine Science",
pages = "1619--1623",
editor = "T. Huang",
booktitle = "Proceedings of the 2004 - the Eleventh World Congress in Mechanism and Machine Science",
note = "Proceeding of the 2004 the Eleventh World Congress in Mechanism and Machine Science ; Conference date: 01-04-2004 Through 04-04-2004",
}