Design of Dynamic Controllers for Continuous Paths on Parallel Platforms (Slide Modes and PD+)

摘要

A parallel robot is defined as a mechanism of closed kinematic chains with rigid movements, high speed, precision and better inertias, in respect to those with structures composed by open links. besides these configurations describe highly nonlinear behaviours, reflected in the complexity of their kinematic and kinetic models. Finally, these systems are integrated with control techniques that obtain the desired trajectories in this paper for continuous 3D printing applications. For this reason, the development of control techniques based on dynamics by torque control law using drivers for the actuators maintaining the desired torque are described, these control techniques allow to obtain continuous behaviours in the final effector in order to make uniform impressions for biopolymer scaffolds.