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Trajectory Tracking of a Redundant Hybrid Manipulator Using a Switching Control Method
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</div> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Paper Count:</strong> 87506</div> </div> </div> </div> <div class="card publication-listing mt-3 mb-3"> <h5 class="card-header" style="font-size:.9rem">Trajectory Tracking of a Redundant Hybrid Manipulator Using a Switching Control Method</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Atilla%20Bayram">Atilla Bayram</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper presents the trajectory tracking control of a spatial redundant hybrid manipulator. This manipulator consists of two parallel manipulators which are a variable geometry truss (VGT) module. In fact, each VGT module with 3-degress of freedom (DOF) is a planar parallel manipulator and their operational planes of these VGT modules are arranged to be orthogonal to each other. Also, the manipulator contains a twist motion part attached to the top of the second VGT module to supply the missing orientation of the endeffector. These three modules constitute totally 7-DOF hybrid (parallel-parallel) redundant spatial manipulator. The forward kinematics equations of this manipulator are obtained, then, according to these equations, the inverse kinematics is solved based on an optimization with the joint limit avoidance. The dynamic equations are formed by using virtual work method. In order to test the performance of the redundant manipulator and the controllers presented, two different desired trajectories are followed by using the computed force control method and a switching control method. The switching control method is combined with the computed force control method and genetic algorithm. In the switching control method, the genetic algorithm is only used for fine tuning in the compensation of the trajectory tracking errors. <iframe src="https://publications.waset.org/abstracts/50402.pdf" style="width:100%; height:400px;" frameborder="0"></iframe> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=computed%20force%20method" title="computed force method">computed force method</a>, <a href="https://publications.waset.org/abstracts/search?q=genetic%20algorithm" title=" genetic algorithm"> genetic algorithm</a>, <a href="https://publications.waset.org/abstracts/search?q=hybrid%20manipulator" title=" hybrid manipulator"> hybrid manipulator</a>, <a href="https://publications.waset.org/abstracts/search?q=inverse%20kinematics%20of%20redundant%20manipulators" title=" inverse kinematics of redundant manipulators"> inverse kinematics of redundant manipulators</a>, <a href="https://publications.waset.org/abstracts/search?q=variable%20geometry%20truss" title=" variable geometry truss"> variable geometry truss</a> </p> <a href="https://publications.waset.org/abstracts/50402/trajectory-tracking-of-a-redundant-hybrid-manipulator-using-a-switching-control-method" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/50402.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">347</span> </span> </div> </div> </div> </main> <footer> <div id="infolinks" class="pt-3 pb-2"> <div class="container"> <div style="background-color:#f5f5f5;" class="p-3"> <div class="row"> <div class="col-md-2"> <ul class="list-unstyled"> About <li><a href="https://waset.org/page/support">About Us</a></li> <li><a href="https://waset.org/page/support#legal-information">Legal</a></li> <li><a target="_blank" rel="nofollow" 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