Author | Conference | Journal | Organization | Year | DOI
Look for results that meet for the following criteria:
Academic
Publications
Design, modeling and advanced control of the innovative parallel manipulator PaLiDA

Design, modeling and advanced control of the innovative parallel manipulator PaLiDA,10.1109/AIM.2005.1511053,Berend Denkena,Bodo Heimann,H. Adbellatif

Edit
Design, modeling and advanced control of the innovative parallel manipulator PaLiDA   (Citations: 6)
BibTex | RIS | RefWorks Download
The innovative parallel manipulator PaLiDA is the subject of this paper. Main aspects are treated from the design and concept of the drives to the advanced control concept of the complete system. A commercial direct linear drive is integrated into newly designed struts variable in length. The system's design and the strut's arrangement are carried out based on the optimization of the workspace and stiffness. A highly efficient approach for the calculation of the dynamics is presented. It differs from the classical one by the uniform consideration of rigid-body and friction dynamics. The implementation of the model in feedforward control with additional partial decoupling of actuator dynamics is shown. The paper is completed with experimental results that demonstrate the quality of the achieved control in the range of high-speed manipulation and machining
Conference: IEEE/ASME International Conference on Advanced Intelligent Mechatronics - AIM , 2005
Cumulative Annual
View Publication
The following links allow you to view full publications. These links are maintained by other sources not affiliated with Microsoft Academic Search.
    • ...As a case study, we chose the 6-DOF direct-driven manipulator PaLiDA [2]...
    • ...The idea was to integrate linear direct drives in struts, which vary in length [2]...
    • ...Several changes were necessary to use this motor as a robotic actuator (see [2] for more details)...

    Houssem Abdellatif, et al. Advanced Model-Based Control of a 6DOF Hexapod Robot: A Case Study

    • ...For the sake of clarity, we consider in the following our case study PaLiDA just as an illustrating example (see [15], [16] for more technical details about the robot)...

    Houssem Abdellatif, et al. New Experimental Results on the Compensation of Static Friction in Pas...

    • ...Denkena and Heimann [15] controlled a 6-DOFs parallel manipulator by dynamic feedforward control method which met the real-time requirements and obtains high accuracy...

    Qi Hao, et al. Dynamic feedforward control of the 2-DOFs parallel manipulator of a hy...

    • ...This paper will focus on the application of ILC on a linear direct driven hexapod PaLiDA [8]...
    • ...Second, nonlinear formulations for parallel robots will lead to cumbersome control laws, as this is affirmed so far by our experience with such systems [8], [9]...
    • ...The third reason is that nonlinear dynamics compensation is already implemented in the control structure of the studied robot [8], [10]...
    • ...Therefore, the prototype is designed for a convenient weight-load-ratio and is equipped with electromagnetic linear direct drives (see Fig. 1 and [8])...
    • ...Notice, that the feedback-controlled parallel manipulator is equipped with a feedforward control to compensate for the time-variant nonlinear and coupled dynamics [8], [9], [10]...
    • ...Unfortunately, these sensors are reputed by being very noisy [8], [11]...

    Houssem Abdellatif, et al. Application study on Iterative Learning Control of high speed motions ...

    • ...It is commonly known that the inverse dynamics computation for feedforward control of robotic manipulators is crucial for high performance tracking [1], [2], [3]...
    • ...The proposed approach is valid and applicable for a wide range of parallel manipulators [2]...
    • ...The machine was developed by the institute of production engineering of the university of Hannover for high-speed manipulation and machining [2]...
    • ...A general 6-DOF parallel manipulator is constituted of a moving platform (end-effector platform) attached with six serial actuated kinematic chains to the base platform [2], [4], [5], [6], [7]...
    • ...reduced for an efficient calculation and to assure the identifiability of the system [1], [2], [3]...

    Houssem Abdellatif, et al. High Efficient Dynamics Calculation Approach for Computed-Force Contro...

Sort by:

Citations (6)

Share this on