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• W2941377321 abstract "As the demands for multi-degree-of-freedom actuators increase, novel mechanical-electrical integrated designs of motion generator are required for robotic applications. In this work, a spherical motion generator integrating electromagnetic actuators with a 3-RRR spherical parallel manipulator is introduced. The design allows to generate 3-DOF rotations in a compact structure. In this paper, a complete dynamic model in the task space is built for the integrated system, with consideration of uncertainties such as modeling errors and external disturbances. Addressing the uncertainties in the model, a robust adaptive switching learning control algorithm is developed, which can improve its trajectory tracking performance. The stability of the proposed method is analyzed by using Lyapunov method. A co-simulation platform by Matlab/Simulink and ADAMS was developed, with simulations conducted. The results show that the proposed control algorithm has better trajectory tracking performance and robustness to uncertainties." @default.
• W2941377321 created "2019-05-03" @default.
• W2941377321 creator A5017909644 @default.
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• W2941377321 date "2019-10-01" @default.
• W2941377321 modified "2023-10-02" @default.
• W2941377321 title "Dynamic modeling and trajectory tracking control of an electromagnetic direct driven spherical motion generator" @default.
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• W2941377321 doi "https://doi.org/10.1016/j.rcim.2019.04.009" @default.
• W2941377321 hasPublicationYear "2019" @default.
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