IEEE - Institute of Electrical and Electronics Engineers, Inc. - Gravity and friction compensation algorithm for master manipulator based on genetic algorithm

2016 31st Youth Academic Annual Conference of Chinese Association of Automation (YAC)

Author(s): Baibo Wu ; Runze Ding ; Jie Zhong ; Cheng Qian ; Weiyang Lin ; Hongyi Li
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 November 2016
Conference Location: Wuhan, China
Conference Date: 11 November 2016
Page(s): 219 - 224
ISBN (Electronic): 978-1-5090-4423-8
ISBN (USB): 978-1-5090-4422-1
DOI: 10.1109/YAC.2016.7804892
Regular:

In this paper, we built a Lagrange dynamical model for an interactive master manipulator based on Delta parallel mechanism. Genetic Algorithm was used to identify the static parameters in the... View More

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