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General information |
| Author |
Jian, Xue; Zhiyong, Tang; Zhongcai, Pei; Shao, He; Lanbo, Liu |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
6‐DOF parallel robot always appears in the form
of Stewart platform. It has been widely used in industry
for the benefits such as strong structural stiffness, high
movement accuracy and so on. Space docking technology
makes higher requirements of motion accuracy and
dynamic performance to the control method on 6‐DOF
parallel robot. In this paper, a hydraulic 6‐DOF parallel
robot was used to simulate the docking process. Based on
this point, this paper gave a thorough study on the design
of an adaptive controller to eliminate the asymmetric of
controlled plant and uncertain load force interference.
Takagi‐Sugeno (T‐S) fuzzy inference model was used to
build the fuzzy adaptive controller. With T‐S model, the
controller directly imposes adaptive control signal on the
plant to make sure that the output of plant could track the
reference model output. The controller has simple
structure and is easy to implement. Experiment results
show that the controller can eliminate asymmetric and
achieve good dynamic performance, |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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