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: ,

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 ...

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