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| 題 名 | Adaptive Control Design for a Mixed Linear and Rotary Motor-Based Dynamic Platform |
|---|---|
| 作 者 | Lin, Chun-Liang; Lin, Yu-Chen; Tsai, Ruey-Chung; Hwang, Thong-Shing; | 書刊名 | International Journal of Electrical Engineering |
| 卷 期 | 14:2 2007.04[民96.04] |
| 頁 次 | 頁125-134 |
| 分類號 | 448.942 |
| 關鍵詞 | Parallel manipulator; Neural network; Control; Linear motor; Kinematics; |
| 語 文 | 英文(English) |
| 英文摘要 | This paper is concerned with the modeling and control design for a prototype 3 legs 6 degrees-of-freedom parallel manipulator. Inverse dynamics, inverse kinematics and workspace characterizing the platform motion are derived. In the presented architecture, the base platform possesses three linear slideways, actuated, respectively, by a linear DC motor; and three extendible links connecting the upper and base platforms actuated, respectively, by an inductive AC servo motor. For the control system, two kinds of controllers are proposed. The controller consists of two parts for each subsystem: an ordinary state feedback control law and a learning feedback counterpart constituted by a wavelet neural network. |
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