Design model and synchronous controllers for a 4-DOF parallel manipulator
Design model and synchronous controllers for a 4-DOF parallel manipulator
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Abstract
Abstract
In this project, we focus on research, design and built model of a four degree of freedom parallel robot, analysis kinematic and dynamic, design the synchronous controller and demonstrate the stability of system use the Lyapunov theory, control the torque use the AC servo with circuit designed by us. The experimental result is compared to the common controller to demonstrate the effect of the synchronous algorithm.
Keywords
Keywords
Synchronous control, Parallel robot, Lyapunov, Kinematic, Dynamic, ...
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Members
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