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Information Technology Journal

Year: 2011 | Volume: 10 | Issue: 2 | Page No.: 428-433
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Authors

Ming Cong

Yingha Wu

Dong Liu

Yu Du

Haiying Wen

Junfa Yu

Keywords

Research Article

Simulation of 6-DOF Parallel Robot for Coupling Compensation Method

Ming Cong, Yingha Wu, Dong Liu, Yu Du, Haiying Wen and Junfa Yu
In order to improve control performance and eliminate steady, a coupling compensation for 6-DOF parallel robot is presented. Taking dynamic load Tank Simulator as the research object, this study analyzes the coupling of 6-DOC parallel robot considering the degree of freedom of the 6-DOF parallel robot. The coupling angle and coupling velocity are derived based on inverse kinematics model. The performance revolving stability, accuracy and robustness of the proposed coupling compensation control scheme for 6-DOF parallel robot is analysed in theory and computer simulation. These simulations show that the coupling compensation can improve the control performance and eliminate the steady state errors of tank simulator.
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