High Precision Hybrid Torque Control for 4-DOF Redundant Parallel Robots under Variable Load

High Precision Hybrid Torque Control for 4-DOF Redundant Parallel Robots under Variable Load

As regards the impact and chattering of 4-DOF redundant parallel robots that occur under high-speed variable load operating conditions, this study proposed a novel control algorithm based on torque feedforward and fuzzy computational torque feedback hybrid control, which considered both the joint fr...

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Bibliographic Details
Main Authors: Shengqiao Hu, Houcai Liu, Huimin Kang, Puren Ouyang, Zhicheng Liu, Zhengjie Cui
Format: Article
Language:English
Published: MDPI AG 2023-06-01
Series:Actuators
Subjects:
redundant parallel robot
joint space
variable load
torque feedback
torque feedforward
Online Access:https://www.mdpi.com/2076-0825/12/6/232

Internet

https://www.mdpi.com/2076-0825/12/6/232

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