Modal Decoupled Dynamics Feed-Forward Active Force Control of Spatial Multi-DOF Parallel Robotic Manipulator
Joint Authors
Niu, Xinjian
Yang, Chifu
Tian, Bowen
Li, Xiang
Han, Junwei
Source
Mathematical Problems in Engineering
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-04-16
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
According to the parallel mechanism theory, this paper proposes a novel intelligent robotic spine brace for the treatment of scoliosis.
Nevertheless, this type of parallel mechanism has the following disadvantages: strong dynamic coupling in task space or joint space, adverse effect of system’s gravity, and lower response frequency in roll and pitch orientations, which seriously affect the performance of the system.
In order to solve those boring problems, this paper presents a novel active force control structure, modal space dynamic feed-forward (MSDF) force control strategy.
Besides, this paper expresses the intelligent robotic brace system model including the dynamic and kinematic models and the electric actuator model with Kane strategy.
The stability of the intelligent system with the novel control strategy is proved.
In order to evaluate the performance of the presented MSDF force control method, this paper builds the parallel mechanism experimental platform.
It can be seen from experimental results that the proposed motion control method solves these boring problems well.
American Psychological Association (APA)
Niu, Xinjian& Yang, Chifu& Tian, Bowen& Li, Xiang& Han, Junwei. 2019. Modal Decoupled Dynamics Feed-Forward Active Force Control of Spatial Multi-DOF Parallel Robotic Manipulator. Mathematical Problems in Engineering،Vol. 2019, no. 2019, pp.1-13.
https://search.emarefa.net/detail/BIM-1194541
Modern Language Association (MLA)
Niu, Xinjian…[et al.]. Modal Decoupled Dynamics Feed-Forward Active Force Control of Spatial Multi-DOF Parallel Robotic Manipulator. Mathematical Problems in Engineering No. 2019 (2019), pp.1-13.
https://search.emarefa.net/detail/BIM-1194541
American Medical Association (AMA)
Niu, Xinjian& Yang, Chifu& Tian, Bowen& Li, Xiang& Han, Junwei. Modal Decoupled Dynamics Feed-Forward Active Force Control of Spatial Multi-DOF Parallel Robotic Manipulator. Mathematical Problems in Engineering. 2019. Vol. 2019, no. 2019, pp.1-13.
https://search.emarefa.net/detail/BIM-1194541
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1194541