Newton-Euler Method for Dynamic Modeling and Control of Parallel Polishing Manipulator

被引：0

作者：

Wang, Ying ^{[1
]}

Miao, Zhihuai ^{[1
]}

Lin, Weiyang ^{[1
]}

Wei, Wen ^{[1
]}

Zhang, Jufan ^{[1
]}

机构：

[1] Harbin Inst Technol, Shenzhen Grad Sch, Shenzhen 518055, Peoples R China

来源：

2017 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION (IEEE ICIA 2017) | 2017年

基金：

中国博士后科学基金;

关键词：

Parallel manipulator; surface polishing; dynamics; MATLAB; INVERSE; ROBOTS;

D O I：

暂无

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

Using parallel manipulator into free-form surface polishing process has become a kind of trend, the parallel polishing manipulator system with dynamic feed-forward control which can improve the system response speed and control precision. This will guarantee the practical application and commercially of the parallel polishing machine tool. This paper bases on five degree of freedom parallel polishing manipulator, established D-H coordinate system for each leg, and then built up the dynamics equations by Newton-Euler method. Designed the computed torque controller and simulated respective in MATLAB.

引用

页码：1121 / 1126

页数：6

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