Dynamics and iterative learning control of robots with parallel kinematical structures / Bodo Heimann and Houssem Abdellatif

• Главные авторы: Heimann, Bodo (Автор), Abdellatif, Houssem (Автор)
• Формат: ‌
• Опубликовано: Faculty of Mechanical Engineering and University Publication Centre (UPENA), 2009.
• Предметы: Article; PeerReviewed
• Online-ссылка: Link Metadata

The paper deals with model-based control of robots with parallel kinematical structure (PKM). At first, an approach for the identification of friction and rigid-body dynamics of complex parallel kinematical structures is presented. The approach is based on optimal excitation trajectories. The trajec...