Trajectory generation for a 2-dof over-actuated parallel manipulator with actuator speed and torque limits consideration.

Y. K. Yiu Z. X. Li

Published in: CIRA (2003)

Keyphrases

parallel manipulator
degrees of freedom
dynamic model
position control
control scheme
force control
induction motor

inverse dynamics
robotic manipulator
end effector
closed loop
dc motor
control system
limit cycle

configuration space
hybrid meta heuristic
robot manipulators
motion planning
robot arm
real time
control law

control strategy
feedback loop
path planning
dynamical systems
d objects
evolutionary algorithm