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Stiffness based trajectory planning and feedforward based vibration suppression control of parallel robot machines
(Lappeenranta University of Technology, 2014-12-08)
The dissertation proposes two control strategies, which include the trajectory planning
and vibration suppression, for a kinematic redundant serial-parallel robot machine, with
the aim of attaining the satisfactory ...
Flexible multibody dynamics and intelligent control of a hydraulically driven hybrid redundant robot machine
(Lappeenranta University of Technology, 2014-06-03)
The assembly and maintenance of the International Thermonuclear Experimental
Reactor (ITER) vacuum vessel (VV) is highly challenging since the tasks performed by
the robot involve welding, material handling, and machine ...