Experimental Validation of the Extended Computed Torque Control Approach in the 5R Parallel Robot Prototype

Author:

Zubizarreta Asier,Cabanes Itziar,Marcos-Muñoz Marga,Pinto Charles

Publisher

Springer Berlin Heidelberg

Reference15 articles.

1. Merlet, J.P.: Parallel Robots, 2nd edn. Kluwer (2006)

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3. Brecher, C., Ostermann, T., Friedrich, D.: Control concept for pkm considering the mechanical coupling between actuator. In: Proceedings of the 5th Chemnitz Parallel Kinematics Seminar, pp. 413–427 (2006)

4. Ghorbel, F.: Modeling and pd control of closed-chain mechanical systems. In: Proceedings of the 34th IEEE Conference on Decision and Control, pp. 549–542 (1995)

5. Ghorbel, F., Chételat, O., Gunawardana, R., Longchamp, R.: Modeling and set point control of closed-chain mechanisms: Theory and experiment. IEEE Transactions on Control System Technology 8(5), 801–815 (2000)

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