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Dynamic model and force control of the redundantly actuated parallel manipulator of a 5-DOF hybrid machine tool.
Jun Wu
Jinsong Wang
Liping Wang
Tiemin Li
Published in:
Robotica (2009)
Keyphrases
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dynamic model
force control
parallel manipulator
robot manipulators
position control
control scheme
robotic cell
end effector
degrees of freedom
experimental data
control law
inverse kinematics
control strategy
robotic manipulator
closed loop
multiple models
contact force
real time
pid controller
fuzzy logic