Skip to main content
SpringerLink
Log in

Dynamic Control of Parallel Manipulator

  • Chapter
Robot Intelligence Technology and Applications 2012

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 208))

  • 233 Accesses

Abstract

Parallel manipulator with longer legs and heavy load is applied in most of the current high fidelity simulators, which is used to simulate various motions in different environments by exporting varying displacement and orientation.

A novel model-based controller for 6-DOF parallel manipulator with gravity compensation is developed, in order to improve the control precision of 6-DOF parallel manipulator with high speed and heavy load. The effectiveness of the proposed algorithm will be discussed based on experiments.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 169.00
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 219.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Stewart, D.: A Platform with six degrees of freedom. In: Proceedings of the Institution of Mechnical Engineers, vol. 180, pp. 371–386 (1965)

    Google Scholar 

  2. Merlet, J.P.: Parallel robots. Kluwer Academic Publisher, Netherlands (2000)

    Book  MATH  Google Scholar 

  3. Earl, C.F., Rooney, J.: Some Kinematic Structures for Robot Manipulators. ASME, J. Mech. Trans. Auto. in Design, 15–22 (1983)

    Google Scholar 

  4. Hunt, K.H.: Structural Kinematics of in-parallel-actuated Robot-arms. ASME, J. Mech. Trans. Auto. in Design, 705–712 (1983)

    Google Scholar 

  5. Lewis, F.L.: Neural Network Control of Robot Manipulators. IEEE Expert 11, 64–75 (1996)

    Article  Google Scholar 

  6. Lee, C., Seo, K., Oh, C., Lee, J.: A System for Gait Rehabilitation System with Body Weight Support: Mobile Manipulator Approach. Journal of HWRS-ERC 2(3), 16–21 (2001)

    Google Scholar 

  7. Lee, C., Seo, K., Kim, C., Oh, S., Lee, J.: A System for Gait Rehabilitation: Mobile Manipulator Approach. In: Proc. IEEE Conf. Robot. Automat. 2002, vol. 3, pp. 3254–3259 (2002)

    Google Scholar 

  8. Lin, S., Goldenberg, A.A.: Neural-Network Control of Mobile Manipulators. IEEE Trans. Neural Networks 12(5), 1121–1133 (2001)

    Article  Google Scholar 

  9. Lewis, F.L., Jagannathan, S., Yesildirek, A.: Neural Network Control of Robot Manipulators and Nonlinear Systems. Taylor and Francis, London (1999)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Applied Technology, Korea Institute of Robot and Convergence, San 31, Hyoja-dong, Nam-gu, Pohang, Gyeongbuk, 790-784, Korea

    Kap-Ho Seo, Yongsik Park, Sungjo Yun, Sungho Park, Jungsoo Jun & Jeongtack Min

Authors
  1. Kap-Ho Seo
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Yongsik Park
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Sungjo Yun
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Sungho Park
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Jungsoo Jun
    View author publications

    You can also search for this author in PubMed Google Scholar

  6. Jeongtack Min
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. , Electrical Engineering and Computer Sci., KAIST, 291 Daehak-ro, Daejeon, 305-701, Korea, Republic of (South Korea)

    Jong-Hwan Kim

  2. Dept. Computer &, Information Technology (ICT), Purdue University, N. Grant St. 401, West Lafayette, 47907-1421, Indiana, USA

    Eric T. Matson

  3. , Dept. of Civil and Environmental Engg., KAIST, Daehak-ro 291, Daejeon, 305-701, Korea, Republic of (South Korea)

    Hyun Myung

  4. , Faculty of Engineering, The University of Auckland, Private Bag, Auckland, 1142, New Zealand

    Peter Xu

Rights and permissions

Reprints and permissions

Copyright information

© 2013 Springer-Verlag Berlin Heidelberg

About this chapter

Cite this chapter

Seo, KH., Park, Y., Yun, S., Park, S., Jun, J., Min, J. (2013). Dynamic Control of Parallel Manipulator. In: Kim, JH., Matson, E., Myung, H., Xu, P. (eds) Robot Intelligence Technology and Applications 2012. Advances in Intelligent Systems and Computing, vol 208. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-37374-9_90

Download citation

  • DOI: https://doi.org/10.1007/978-3-642-37374-9_90

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-37373-2

  • Online ISBN: 978-3-642-37374-9

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation