期刊
CONTROL ENGINEERING PRACTICE
卷 19, 期 9, 页码 1044-1055出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.conengprac.2011.05.006
关键词
Delayed reference control; Vibration control; Coordinated motion; Path tracking; Robotic crane
The objective of this paper is to provide an experimental proof of the effectiveness and ease of implementation of a non-time based control strategy for the simultaneous active vibration control and path tracking of multi-degree-of-freedom linear systems. What is peculiar in the proposed scheme, named DRC, is that it allows reducing elastic vibrations while guaranteeing coordinated motion among the system rigid-body degrees of freedom, and hence the accurate tracking of desired paths through space. The DRC is here applied to damp the oscillation of a load suspended to the moving platform of an Adept Quattro parallel robot by means of a cable. (C) 2011 Elsevier Ltd. All rights reserved.
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