Sep 2026· Advances in Computer and Materials Scienc Research· 0 citations
Abstract
This paper presents the design and modeling of a new 6-degrees-of-freedom (DOF) 12-legged parallel manipulator (PM). A vector method is adopted to establish the kinematics model of the PM. The dynamics model is then developed using the principle of virtual work and the pseudo-inverse. Under equivalent conditions, the maximum driving force of the 6-DOF 12-legged PM is found to be only 55% of that of the traditional Gough–Stewart platform, indicating that the proposed PM achieves excellent dynamic performance and has huge load-bearing potential. In terms of control, a force/position hybrid control strategy is adopted to control the PM. The core of the position and force control systems are a proportional–integral–derivative (PID) controller and an interval type-2 fuzzy proportional–integral–derivative (IT2F-PID) controller, respectively. The correctness of the dynamic model and the effectiveness of the control method are verified through simulation analysis. The investigations of this paper provide new approaches for designing large-size and heavy-load PMs.
Conventional single-degree-of-freedom PI and PID controllers face a trade-off between fast tracking and low overshoot in precision position control. This paper investigates the design of a two-degree-of-freedom proportional-integral-derivative (2-DOF PID) controller for position control of a Linear DC Motor. The Salp S...
This paper presents the application of Model Predictive Control (MPC) on a three kinematic 3RRR chains (two revolute joints and one revolute actuator) for a 6-Degree-of-Freedom (6-DOF) spatial manipulator parallel plate mechanism designed similarly to a Stewart platform. The MPC controller is selected for its ability t...
A. Hussenien, B. Hussein, S. Megahed· Journal of Physics, Conferen...· 0 citations
This paper presents the dynamic modelling and control evaluation of a six-degree-of-freedom serial robotic manipulator simulated in Robot Operating System 2 Jazzy and Gazebo. The rigid-body dynamic model is derived via the Denavit–Hartenberg convention and includes the full inertia matrix M(q), Coriolis and centrifugal...
A. H. Hussein, R. T. Elkhouly, M. Abdel-Mottaleb· Journal of Physics, Conferen...· 0 citations
Two-wheeled self-balancing robots represent a classic benchmark for underactuated, non-linear dynamic feedback
control systems based on the inverted pendulum model. This paper presents the end-to-end design, kinematic modeling,
hardware assembly, and experimental calibration of a compact two-wheeled self-balancing robo...
Manish Kumar, Aniket Kumar, M. Kumar et al.· International Journal for Re...· 0 citations
This research investigates the problem of robust control of a nonlinear, fast-dynamics, high-precision planar manipulator with a limited workspace. Starting from a mathematical model formulated in terms of Euler-Lagrange dynamics, the proposed approach considers, given the limitations of the physical system, that some...
To address the coupling between the vertical and pitch motions of a vehicle body and the difficulty of suppressing instantaneous large impact under combined road- and operation-induced excitations, a five-degree-of-freedom (5-DOF) half-vehicle dynamic model of a two-axle wheeled engineering vehicle with a robotic arm i...
Lian-Nan Ji, Tai-Yong Wang, Xiao-Peng Wang et al.· Mathematics· 0 citations
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