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RISAn Actuation Acceleration-Based Kinematic Modeling and Parameter Identification Approach for a Six-Degrees-of-Freedom 6-PSU Parallel Robot With Joint Clearances
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The 6-prismatic-spherical-universal (6-PSU) parallel robot is useful for high-accuracy positioning, where the motors are installed on the robot base and the moving parts of the robot have low inertia. A highly accurate ...
Stability Analysis and Distortion Compensation of Robot Structure Dynamics for a Hybrid Simulator
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The space docking process must be simulated on the ground to guarantee the success of the space docking task. By synthesizing a physical simulation and a numerical simulation, a hybrid simulator can simulate the complicated ...