مقاله Passivity Based Backstepping Control of a Cableدرbased Robot Incorporating Actuator Dynamics
مقاله Passivity Based Backstepping Control of a Cableدرbased Robot Incorporating Actuator Dynamics فایل ورد (word) دارای 4 صفحه می باشد و دارای تنظیمات در microsoft word می باشد و آماده پرینت یا چاپ است
فایل ورد مقاله Passivity Based Backstepping Control of a Cableدرbased Robot Incorporating Actuator Dynamics فایل ورد (word) کاملا فرمت بندی و تنظیم شده در استاندارد دانشگاه و مراکز دولتی می باشد.
این پروژه توسط مرکز مرکز پروژه های دانشجویی آماده و تنظیم شده است
توجه : در صورت مشاهده بهم ریختگی احتمالی در متون زیر ،دلیل ان کپی کردن این مطالب از داخل فایل ورد می باشد و در فایل اصلی مقاله Passivity Based Backstepping Control of a Cableدرbased Robot Incorporating Actuator Dynamics فایل ورد (word) ،به هیچ وجه بهم ریختگی وجود ندارد
بخشی از متن مقاله Passivity Based Backstepping Control of a Cableدرbased Robot Incorporating Actuator Dynamics فایل ورد (word) :
سال انتشار: 1391
محل انتشار: بیستمین کنفرانس سالانه مهندسی مکانیک
تعداد صفحات: 4
نویسنده(ها):
Mahmoud Zarebidoki – M.Sc. Student, Department of Mechanical and Aerospace EngineeringShiraz University of Technology
Amir Lotfavar – Assistant Professor, Department of Mechanical and Aerospace Engineering and Marine System Research Center,Shiraz University of Technology
Hamidreza Fahham – Assistant Professor, Marvdasht Branch, Islamic Azad University
چکیده:
The level adjustment of cable-driven parallel mechanism is challenging due to the difficulty in obtaining an accurate mathematical model and the fact that different sources of uncertainties exist in the adjustment process. This paper presents application of passivity based backstepping technique for trajectory tracking of a cable-based manipulator, with DC motors, in the presence of parameters uncertainty and disturbance. At first, dynamic equations of motion are introduced, then third order inverse dynamics and passivity based backstepping controllers incorporating actuator dynamics are presented respectively. Comparison of simulation results of the two methods shows that passivity based with respect to inverse dynamics method has more smooth control commands and better trajectory tracking in presence of uncertainty and disturbance by using passivity properties of the robot
