@article{(Open Science Index):https://publications.waset.org/pdf/3043,
	  title     = {Coupling Compensation of 6-DOF Parallel Robot Based on Screw Theory},
	  author    = {Ming Cong and  Yinghua Wu and  Dong Liu and  Haiying Wen and  Junfa Yu},
	  country	= {},
	  institution	= {},
	  abstract     = {In order to improve control performance and eliminate steady, a coupling compensation for 6-DOF parallel robot is presented. Taking dynamic load Tank Simulator as the research object, this paper analyzes the coupling of 6-DOC parallel robot considering the degree of freedom of the 6-DOF parallel manipulator. The coupling angle and coupling velocity are derived based on inverse kinematics model. It uses the mechanism-model combined method which takes practical moving track that considering the performance of motion controller and motor as its input to make the study. Experimental results show that the coupling compensation improves motion stability as well as accuracy. Besides, it decreases the dither amplitude of dynamic load Tank Simulator.
},
	    journal   = {International Journal of Mechanical and Mechatronics Engineering},
	  volume    = {4},
	  number    = {12},
	  year      = {2010},
	  pages     = {1390 - 1395},
	  ee        = {https://publications.waset.org/pdf/3043},
	  url   	= {https://publications.waset.org/vol/48},
	  bibsource = {https://publications.waset.org/},
	  issn  	= {eISSN: 1307-6892},
	  publisher = {World Academy of Science, Engineering and Technology},
	  index 	= {Open Science Index 48, 2010},
	}