{"title":"Trajectory Errors of the 6-PGK Parallel Robot","authors":"L. Moldovan","doi":"10.1109/CANS.2008.11","DOIUrl":null,"url":null,"abstract":"This paper presents a method to determinate a desired trajectory for the manipulated object by the 6-PGK parallel robot, with an imposed velocity, when some vibration motions act in the prismatic motor joints. By using the Lagrangian approach the dynamic equations of motion of the parallel robot were deduced. The supplementary generalized forces that must be introduced in system to correct the trajectory errors have been computed from these equations.","PeriodicalId":50026,"journal":{"name":"Journal of Systems Science & Complexity","volume":"64 1","pages":"31-37"},"PeriodicalIF":2.6000,"publicationDate":"2008-11-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Systems Science & Complexity","FirstCategoryId":"100","ListUrlMain":"https://doi.org/10.1109/CANS.2008.11","RegionNum":3,"RegionCategory":"数学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"MATHEMATICS, INTERDISCIPLINARY APPLICATIONS","Score":null,"Total":0}
引用次数: 5
Abstract
This paper presents a method to determinate a desired trajectory for the manipulated object by the 6-PGK parallel robot, with an imposed velocity, when some vibration motions act in the prismatic motor joints. By using the Lagrangian approach the dynamic equations of motion of the parallel robot were deduced. The supplementary generalized forces that must be introduced in system to correct the trajectory errors have been computed from these equations.
期刊介绍：
The Journal of Systems Science and Complexity is dedicated to publishing high quality papers on mathematical theories, methodologies, and applications of systems science and complexity science. It encourages fundamental research into complex systems and complexity and fosters cross-disciplinary approaches to elucidate the common mathematical methods that arise in natural, artificial, and social systems. Topics covered are:
complex systems,
systems control,
operations research for complex systems,
economic and financial systems analysis,
statistics and data science,
computer mathematics,
systems security, coding theory and crypto-systems,
other topics related to systems science.
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