Dynamics and iterative learning control of robots with parallel kinematical structures / Bodo Heimann and Houssem Abdellatif
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...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Faculty of Mechanical Engineering and University Publication Centre (UPENA)
2009
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| Online Access: | http://ir.uitm.edu.my/id/eprint/17620/ http://ir.uitm.edu.my/id/eprint/17620/1/AJ_BODO%20HEIMANN%20JME%2009.pdf |