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: | Xiaogang Song, Yongjie Zhao, Lei Jin, Peng Zhang, Chengwei Chen |
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Format: | Article |
Language: | English |
Published: |
SAGE Publishing
2019-01-01
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Series: | International Journal of Advanced Robotic Systems |
Online Access: | https://doi.org/10.1177/1729881418820451 |
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