
	Information Technology Journal
	Year: 2011 \| Volume: 10 \| Issue: 2 \| Page No.: 428-433 DOI: 10.3923/itj.2011.428.433

Simulation of 6-DOF Parallel Robot for Coupling Compensation Method

Ming Cong, Yingha Wu, Dong Liu, Yu Du, Haiying Wen and Junfa Yu

Abstract: 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.

PDF Fulltext XML References Citation Report Citation

RELATED ARTICLES:

•	Structural Parameter Optimization for 3-DOF Spherical Parallel Mechanism, Binocular Stereo

•	Parametric Optimization of an Eight-bar Mechanism of a Wheel Loader Based on Simulation

•	Operation and Simulation of a Water Supply System

•	A Simulation Technique For Engineering Control Systems

How to cite this article:

Ming Cong, Yingha Wu, Dong Liu, Yu Du, Haiying Wen and Junfa Yu, 2011. Simulation of 6-DOF Parallel Robot for Coupling Compensation Method. Information Technology Journal, 10: 428-433.

DOI: 10.3923/itj.2011.428.433

URL: https://scialert.net/abstract/?doi=itj.2011.428.433

COMMENT ON THIS PAPER

Navigation


		Online First
		Current Issue
		Previous Issues
		Editorial Board
		Submit a Manuscript
		Guide to Authors
		Subscribe to E-alerts

Indexed In


		ASCI-Database
		Asian Digital Library
		Google Scholar

Science Alert