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Hybrid Moment/Position Control of a Parallel Robot
Mohamed El Hossine Daachi,Brahim Achili,Boubaker Daachi,Yacine Amirat,Djamel Chikouche 제어·로봇·시스템학회 2012 International Journal of Control, Automation, and Vol.10 No.3
In this paper, a hybrid moment/position controller in task space is proposed for tasks involving a contact between a robot and its environment. We consider a contour-tracking task performed by a six DOF (Degrees Of Freedom) parallel robot. The task space dynamic model of the robot in contact with its environment, seen as a black box, is estimated by a MLP-NN (MultiLayer Perceptron Neural Network). The neural network non-linearity is treated using Taylor series expansion. An adaptation al-gorithm of the neural parameters resulting from a closed-loop stability analysis is proposed. The per-formance of the proposed controller is validated on the C5 parallel robot by considering two different environments: rigid and compliant.