TY - GEN
T1 - Analysis of coupling effects on hydraulic controlled 6 degrees of freedom parallel manipulator using joint space inverse mass matrix
AU - Peter, Ogbobe
AU - Hongzhou, Jiang
AU - Jingfeng, He
AU - Chifu, Yang
AU - Junwei, Han
PY - 2009
Y1 - 2009
N2 - This paper presents an analysis of the coupling effects between degrees of freedom of a hydraulic controlled six DOF parallel manipulator. Based on the singular value decomposition to the properties of its joint space inverse mass matrix, the method is put forward to analyze coupling effects between degrees of freedom using a transformation matrix, the product of transposed Jacobian matrix and an orthogonal unitary matrix, of which each element represents decoupled modal space coordinates with respect to physical task space frame. The simulation results in frequency domain prove the theoretical analysis right. The analysis will provide useful information to mechanism and controller designer, to asses from concept the coupling effects between DOF in respect of the requirement for a particular application and also for the study on decoupling control strategies.
AB - This paper presents an analysis of the coupling effects between degrees of freedom of a hydraulic controlled six DOF parallel manipulator. Based on the singular value decomposition to the properties of its joint space inverse mass matrix, the method is put forward to analyze coupling effects between degrees of freedom using a transformation matrix, the product of transposed Jacobian matrix and an orthogonal unitary matrix, of which each element represents decoupled modal space coordinates with respect to physical task space frame. The simulation results in frequency domain prove the theoretical analysis right. The analysis will provide useful information to mechanism and controller designer, to asses from concept the coupling effects between DOF in respect of the requirement for a particular application and also for the study on decoupling control strategies.
KW - 6 degrees of freedom
KW - Coupling effects
KW - Othorgonal unitary matrix
KW - Parallel manipulator
KW - Singular value decomposition
UR - http://www.scopus.com/inward/record.url?scp=71949113954&partnerID=8YFLogxK
U2 - 10.1109/ICICTA.2009.439
DO - 10.1109/ICICTA.2009.439
M3 - 会议稿件
AN - SCOPUS:71949113954
SN - 9780769538044
T3 - 2009 2nd International Conference on Intelligent Computing Technology and Automation, ICICTA 2009
SP - 845
EP - 848
BT - 2009 2nd International Conference on Intelligent Computing Technology and Automation, ICICTA 2009
T2 - 2009 2nd International Conference on Intelligent Computing Technology and Automation, ICICTA 2009
Y2 - 10 October 2009 through 11 October 2009
ER -