旋转副
MATLAB语言
稳健性(进化)
执行机构
控制理论(社会学)
模拟
运动学
控制工程
计算机科学
PID控制器
工程类
控制(管理)
人工智能
机器人
生物化学
经典力学
基因
操作系统
物理
化学
温度控制
作者
Iván Cañedo Farfán,Roberto Ambrosio,J.F. Guerrero-Castellanos
出处
期刊:Lecture notes in networks and systems
日期:2021-11-03
卷期号:: 65-78
标识
DOI:10.1007/978-3-030-82064-0_6
摘要
The present work aims to develop a mathematical model and position control algorithm of a 3-RRS (revolute, revolute, spherical) parallel manipulator, for driving simulators. For this purpose, the inverse and forward kinematics are considered. Furthermore, the actuator model, DC-Motors, is taken into account. A simulation-based approach is presented using MATLAB/Simulink with Simscape complement for the mechanical constraints. Then, each actuator’s position control is performed using the ADRC methodology, which provides robustness and simplicity in its implementation. Simulation results validate the proposal and the overall performance of the system is measured and compared with a PID-based solution using the ISE index.Cañedo Farfán, Iván Ambrosio Lázaro, Roberto Carlos Guerrero Castellanos, José Fermi
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