基于模型的控制六自由度并联机器人外文文献翻译.docxVIP

Model-based Control for 6-DOF Parallel Manipulator 基于模型的控制六自由度并联机器人 Abstract 摘要 A novel model-based controller for six-degree-of^freedom (DOF) parallel manipulator is proposed in this paperjn order to abatement the influence of platform load variety and compel the steady state errors converge to zero 一种新的基于模型的控制器的六自由 度并联机器人（自由度）提出，以便消 除影响平台负载的品种和迫使稳态误 差收敛到零 In this paper, 6-DOF parallel manipulator is described as multi-rigid-body systems, the mathematical model of the 6-DOF parallclmanipulator including dynamics based on Kane method and kinematics used closed-form solutions and Newton-Raphson