A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is
This paper presents a fuzzy identification method for the dynamic model of the 6PUS-UPU redundantly actuated parallel robot. The T-S fuzzy model is the model of the whole system, the input is the pose of the moving platform and the output is the driving force. The fuzzy model is regarded as the feedback loop between the moving platform and the force branch. The dynamic model is built by Kane's method, and a novel closed-loop force/position hybrid control structure with the pose error for adoi:10.1007/s40815-016-0144-6 fatcat:de5v6q4hgjelxofgumdrak5dla