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CMAC-based compound control of hydraulically driven 6-DOF parallel manipulator
2011
Journal of Mechanical Science and Technology
The movement precision of the hydraulically driven 6-six degrees of freedom (6-DOF) parallel manipulator is determined mainly by the precision of the valve-controlled asymmetrical cylinder (VCAC). Unfortunately, the asymmetrical movement of the VCAC caused by its asymmetrical structure can significantly compromise control precision. Owing to this asymmetry and, more fundamentally, the inherent nonlinearity of hydraulic systems as well as complicated load variations, it is very difficult to
doi:10.1007/s12206-011-0329-8
fatcat:jxau6fq6kbd43a55hyjt2nt4t4