Calculated Torque Control of a Planar Parallel Robot 2-RR

This paper introduces the design, structure and control method of a five-bar planar mechanism with five revolute joints and two degrees of freedom. The control is realized by calculating the torque in the joint space to obtain the required trajectory. The direct and inverse kinematics of position an...

Full description

Autores:

Yime Rodríguez, Eugenio
Roldán Mckinley, Javier
Villa Ramírez, José Luis

Tipo de recurso:

Fecha de publicación:

2022

Institución:

Universidad Tecnológica de Bolívar

Repositorio:

Repositorio Institucional UTB

Idioma:

eng

OAI Identifier:

oai:repositorio.utb.edu.co:20.500.12585/12300

Acceso en línea:

https://hdl.handle.net/20.500.12585/12300

Palabra clave:

Parallel Manipulator;
Stewart Platform;
Biomechanics
LEMB

Rights

openAccess

License

http://creativecommons.org/licenses/by-nc-nd/4.0/