Browsing by Author Nguyen, Dinh Dzung
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Parallel robots are being applied popular in industry. They usually have many closed-loop kinematic structures, therefore their movement equations have the form of redundant coordinates and are complex. In most cases, parameters of dynamic model of the parallel robots required to be known exactly for control problem using the control laws such as PD, PID, CTC. This study is going to see in which the conditions of the Rostock Delta parallel robot should be used well with the PD control law. The movement equations of Rostock Delta robot in the form of differential equation system with redundant generalized coordinates is used to establish the PD control law. The stableness of the contro... |
