The Dynamic Characteristics of the Manipulator With Parallel Kinematic Structure Based on Experimental Data

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Date

2015

Authors

Osadchy, S.
Zozulya, V.
Timoshenko, A.

Journal Title

Journal ISSN

Volume Title

Publisher

River Publishers

Abstract

The chapter presents two identification techniques which the authors found most useful in examining the dynamic characteristics of a manipulator with a parallel kinematic structure as an object of control. These techniques emphasize a frequency domain approach. If all input/output signals of an object can be measured, then the first one of such techniques may be used for identification. In the case when all disturbances can’t be measured, the second identification technique may be used.

Description

Keywords

Manipulator with parallel kinematics, structural identification, control system

Citation

Osadchy, S. The Dynamic Characteristics of the Manipulator With Parallel Kinematic Structure Based on Experimental Data. / S. Osadchy, V. Zozulya, A. Timoshenko // Advances in Intelligent Robotics and Collaborative Automation — Robots. River Publishers. - 2015. - Ch. 2. - Р. 25–46.