DYNAMIC MODEL OF THE 6-DOF PARALLEL MANIPULATOR CONTROL USING LAGRANGIAN EQUATION

摘要：

This paper presents the control of the 6-DOF parallel manipulator using Lagrangian equation. The 6-DOF parallel manipulator are composed of fix base and moveable platform are couple by the actuators. The dynamic equations express by Lagrangian equation, the structure of the 6-DOF parallel manipulator and kinematics and are explains in this paper. The 6-DOF parallel manipulator using Lagrangian equation are accurate and good ability.

关键词： The 6-DOF parallel manipulator Inverse kinematics Lagrangian dynamics Simulink

作者: VONGVIT RATTAWUT ZHU HAI TAO

作者单位: College of Mechanical and Electrical Engineering Harbin Engineering University Harbin, China

会议类型: 国际会议

会议名称: 2011 International Conference on Mechatronics and Applied Mechanics(2011年机电一体化与应用力学国际会议 ICMAM 2011)

会议地点: 香港

会议语种:英文

页码: 437-440

在线出版日期: 2011-12-27（万方平台首次上网日期，不代表论文的发表时间）