Inverse Dynamics And Motion Control Of Delta Parallel Robot

Inverse Dynamics and Motion Control of Delta Parallel Robot

Author:

NGUYEN DINH DUNG

Field:

Engineering Mechanics

Document Content:

This doctoral thesis focuses on the study of inverse dynamics and motion control of Delta parallel robots. It presents the development of mechanical and mathematical models, as well as control algorithms for these robots. The research aims to improve numerical accuracy in solving the inverse dynamics problem and to investigate the quality of controllers using different mechanical models.

Table of Contents:

• INTRODUCTION
• CHAPTER 1. OVERVIEW OF DYNAMICS AND CONTROL PARALLEL ROBOT
• CHAPTER 2. BUILDING THE MECHANICAL MODEL AND MATHEMATICAL MODEL FOR DELTA PARALLEL ROBOT
• CHAPTER 3. NUMERICAL SIMULATION OF INVERSE KINEMATICS AND INVERSE DYNAMICS FOR DELTA PARALLEL ROBOT
• Conclusions of chapter 1
• Conclusions of chapter 2