Modeling and control for a Gough-Stewart platform CNC machine
Journal of Robotic Systems
A force-impedance controlled industrial robot using an active robotic auxiliary device
Robotics and Computer-Integrated Manufacturing
Adaptive robust posture control of a parallel manipulator driven by pneumatic muscles
Automatica (Journal of IFAC)
Expert Systems with Applications: An International Journal
A hybrid strategy to solve the forward kinematics problem in parallel manipulators
IEEE Transactions on Robotics
Adaptive neural network control of tendon-driven mechanisms with elastic tendons
Automatica (Journal of IFAC)
Robust nonlinear task space control for 6 DOF parallel manipulator
Automatica (Journal of IFAC)
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This paper presents a decoupling controller equipped with cross-coupling pre-compensation for an electro-hydraulic parallel robot, in order to weaken system dynamic coupling effects usually ignored on the design of advanced controllers and improve system control performance. The mathematical model of the electro-hydraulic parallel robot is built using the Kane method and a hydromechanics approach, and the kinematical model is established with a closed-form solution and the Newton-Raphson method. The feedback linearization theory is applied to reduce coupling effects stemmed from system dynamics of the parallel robot via incorporating force-velocity control with cross-coupling pre-compensations. The control performance involving stability, accuracy, and robustness of the proposed controller for spatial 6-DOF parallel robot is analyzed in theory and experiment. The experimental results illustrate that the proposed controller can highly improve the control performance by weakening system dynamic coupling effects of the electro-hydraulic parallel robot, especially for trajectory tracking performance.