Abstract
The position control of a tendon driven, 3-DOF spherical parallel robot mechanism actuated by pneumatic muscle actuators is studied, including the kinematics model, track planning method, experimental test and control system and the control algorithm of intelligent PID and the inverse position solution. Relatively satisfactory experimental results are validated by the forward position solution of this mechanism.
| Original language | English |
|---|---|
| Pages (from-to) | 516-519 |
| Number of pages | 4 |
| Journal | Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology |
| Volume | 24 |
| Issue number | 6 |
| Publication status | Published - Jun 2004 |
Keywords
- Pneumatic muscle actuator
- Position control
- Spherical parallel robot
- Tendon driven