Performance analysis of the computed torque based active force control for a planar parallel manipulator
This paper presents a novel approach to control a 3-RRR (revolute-revolute-revolute) planar parallel manipulator applying an active force control (AFC) strategy. A PID-based computed torque controller (CTC) was first designed and developed to demonstrate the basic and stable response of the manipula...
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| Main Authors: | , , |
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| Format: | Article |
| Published: |
Scientific.Net
2012
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| Subjects: | |
| Online Access: | http://eprints.utm.my/id/eprint/47365/ http://dx.doi.org/10.4028/www.scientific.net/AMM.110-116.4932 |
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