TAILIEUCHUNG - Parallel Manipulators New Developments Part 16

Tham khảo tài liệu 'parallel manipulators new developments part 16', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Task Space Approach of Robust Nonlinear Control for a 6 DOF Parallel Manipulator 441 cannot represent the overall tracking performance. Therefore the RMS root mean square values in the errors are investigated to confirm the comprehensive tracking performance. If each RMS value of 6 DOF motion errors by PIDE is defined as 100 then each RMS value of motion errors along six directions surge sway heave roll pitch and yaw is 40 34 39 94 91 and 62 for TNCE and 31 34 37 72 90 and 35 for TRNCE respectively. The RMS values of errors show that nonlinear control laws designed in task space are superior to the PIDE. Furthermore the TRNCE exhibits the more excellent control performance than the TNCE by the RMS values of errors and the comparison of each maximum value which result from the reflection of the system uncertainties. Roll Pitch Yaw 0 1 2 3 4 5 6 Time sec a PIDE Surge Sway Heave 1 0 -1 - -2 ----------- -------1------- -------1------- -------1------- -------1------- --------1------ --------1 0 1 2 3 4 5 6 Time sec Time sec b TNCE c TRNCE Fig. 9. Tracking errors of 6DOF motions to multi-directional sinusoidal inputs Roll Hz Pitch Hz Yaw Hz and Heave mm Hz Fig. 9 presents tracking errors to multi-directional sinusoidal inputs Roll Pitch Yaw and Heave . The TRNCE and TNCE show the remarkable tracking performances superior to those of the PIDE in all 6 DOF directions which is similar in performance tendency to the previous case. The superb performances 442 Parallel Manipulators New Developments through the TRNCE and TNCE result from the task space based designs and cancellation of nonlinearities the inertia force for a given acceleration the gravitational force the Coriolis and centrifugal forces . The translation errors of the TRNCE are bounded between and those of the TNCE lie between and while those of the PIDE exceed in a steady state. All the rotational error

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