Dynamics Modeling and Adaptive Sliding Mode Control of a Hybrid Condenser Cleaning Robot
This study examines the pose control of the 4-RPU redundant parallel mechanism of a hybrid condenser cleaning robot in response to the poor control accuracy of current cleaning robots. The kinematics of the 4-RPU mechanism is analysed, and its dynamics model is constructed using the virtual work pri...
Gardado en:
| Principais autores: | , |
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| Formato: | Artigo |
| Idioma: | Inglês |
| Publicado: |
MDPI AG
2022-04-01
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| Series: | Actuators |
| Assuntos: | |
| Acceso en liña: | https://www.mdpi.com/2076-0825/11/5/119 |
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