![](/images/graphics-bg.png)
Experimental and Numerical Study on the Semi-Closed Loop Control of a Planar Parallel Robot Manipulator
المؤلفون المشاركون
Lin, Tsu-Pin
Kuo, Yong-Lin
Wu, Chun Yu
المصدر
Mathematical Problems in Engineering
العدد
المجلد 2014، العدد 2014 (31 ديسمبر/كانون الأول 2014)، ص ص. 1-9، 9ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2014-05-22
دولة النشر
مصر
عدد الصفحات
9
التخصصات الرئيسية
الملخص EN
This paper implements the model predictive control to fulfill the position control of a 3-DOF 3-RRR planar parallel manipulator.
The research work covers experimental and numerical studies.
First, an experimental hardware-in-the-loop system to control the manipulator is constructed.
The manipulator is driven by three DC motors, and each motor has an encoder to measure the rotating angles of the motors.
The entire system is designed as a semiclosed-loop control system.
The controller receives the encoder signals as inputs to produce signals driving the motors.
Secondly, the motor parameters are obtained by system identification, and the controllers are designed based on these parameters.
Finally, the numerical simulations are performed by incorporating the manipulator kinematics and the motor dynamics; the results are compared with those from the experiments.
Both results show that they are in good agreement at steady state.
There are two main contributions in this paper.
One is the application of the model predictive control to the planar parallel manipulator, and the other one is to overcome the effects of the uncertainties of the DC motors and the performance of the position control due to the dynamic behavior of the manipulator.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Kuo, Yong-Lin& Lin, Tsu-Pin& Wu, Chun Yu. 2014. Experimental and Numerical Study on the Semi-Closed Loop Control of a Planar Parallel Robot Manipulator. Mathematical Problems in Engineering،Vol. 2014, no. 2014, pp.1-9.
https://search.emarefa.net/detail/BIM-497296
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Kuo, Yong-Lin…[et al.]. Experimental and Numerical Study on the Semi-Closed Loop Control of a Planar Parallel Robot Manipulator. Mathematical Problems in Engineering No. 2014 (2014), pp.1-9.
https://search.emarefa.net/detail/BIM-497296
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Kuo, Yong-Lin& Lin, Tsu-Pin& Wu, Chun Yu. Experimental and Numerical Study on the Semi-Closed Loop Control of a Planar Parallel Robot Manipulator. Mathematical Problems in Engineering. 2014. Vol. 2014, no. 2014, pp.1-9.
https://search.emarefa.net/detail/BIM-497296
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-497296
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
![](/images/ebook-kashef.png)
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر
![](/images/kashef-image.png)