Dynamic feedforward control in decoupling space for a four-degree-of-freedom parallel robot
This article proposes a dynamic feedforward control method for a four-degree-of-freedom parallel robot in decoupling space to improve the control accuracy and robust stability. The mass matrix and the gravity component are obtained from the rigid-body dynamic model that is formulated by means of the...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2019-01-01
|
| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881418820451 |