摘要
Based on the dynamic model of 6-DOF parallel manipulators, a method used to investigate the stability of control strategies for trajectory tracing is proposed under a uniform frame. Using this method, the stability and the stable area of a classical control strategy, PD plus estimated nominal input, is discussed. And the method developed in this paper also has general use to other kinds of control strategies, so we can obtain their stability and the stable area in the same way. Simulation verified that the results which we had got using this control strategy had the same stability as we had analyzed.
| 源语言 | 英语 |
|---|---|
| 页 | 1235-1239 |
| 页数 | 5 |
| 出版状态 | 已出版 - 2000 |
| 已对外发布 | 是 |
| 活动 | Proceedings of the 3th World Congress on Intelligent Control and Automation - Hefei, 中国 期限: 28 6月 2000 → 2 7月 2000 |
会议
| 会议 | Proceedings of the 3th World Congress on Intelligent Control and Automation |
|---|---|
| 国家/地区 | 中国 |
| 市 | Hefei |
| 时期 | 28/06/00 → 2/07/00 |