Abstract
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.
| Original language | English |
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| Pages | 1235-1239 |
| Number of pages | 5 |
| Publication status | Published - 2000 |
| Externally published | Yes |
| Event | Proceedings of the 3th World Congress on Intelligent Control and Automation - Hefei, China Duration: 28 Jun 2000 → 2 Jul 2000 |
Conference
| Conference | Proceedings of the 3th World Congress on Intelligent Control and Automation |
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| Country/Territory | China |
| City | Hefei |
| Period | 28/06/00 → 2/07/00 |