M. Bennehar, A. Chemori, F. Pierrot and S. Krut
Control of Redundantly Actuated PKMs for Closed-Shape Trajectories Tracking with Real-Time Experiments
M. Bennehar, A. Chemori, F. Pierrot and S. Krut: LIRMM, UMR 5506, CNRS Université de Montpellier II, 161 rue Ada, 34392 Montpellier cedex 5, France, emails: firstname.lastname@example.org, email@example.com
Abstract: This paper deals with closed-shape geometric reference trajectories generation and dynamic control of redundantly actuated parallel kinematic manipulators. Geometric trajectories if generated by means of trigonometric functions may show inherent discontinuities regarding velocities and/or ...