LQR Feedback Linearization Method to Control the Motions of a Spherical Serial Mechanism

Larbi, Meziane; Belharet, Karim; Guechi, El-Hadi

doi:10.1109/aim43001.2020.9158862

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Cited by 2 publications

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Tracking Control for Serial Spherical Robotic Manipulators with Uncertain Dynamics

Chen,

Tian

2023

2023 IEEE International Conference on Mechatronics and Automation (ICMA)

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Tracking Control for Serial Spherical Robotic Manipulators with Uncertain Dynamics

Chen,

Tian

2023

2023 IEEE International Conference on Mechatronics and Automation (ICMA)

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Parallel–Serial Robotic Manipulators: A Review of Architectures, Applications, and Methods of Design and Analysis

Antonov

2024

Machines

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Parallel–serial (hybrid) manipulators represent robotic systems composed of kinematic chains with parallel and serial structures. These manipulators combine the benefits of both parallel and serial mechanisms, such as increased stiffness, high positioning accuracy, and a large workspace. This study discusses the existing architectures and applications of parallel–serial robots and the methods of their design and analysis. The paper reviews around 500 articles and presents over 150 architectures of manipulators used in machining, medicine, and pick-and-place tasks, humanoids and legged systems, haptic devices, simulators, and other applications, covering both lower mobility and kinematically redundant robots. After that, the paper considers how researchers have developed and analyzed these manipulators. In particular, it examines methods of type synthesis, mobility, kinematic, and dynamic analysis, workspace and singularity determination, performance evaluation, optimal design, control, and calibration. The review concludes with a discussion of current trends in the field of parallel–serial manipulators and potential directions for future studies.

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LQR Feedback Linearization Method to Control the Motions of a Spherical Serial Mechanism

Cited by 2 publications

References 16 publications

Tracking Control for Serial Spherical Robotic Manipulators with Uncertain Dynamics

Tracking Control for Serial Spherical Robotic Manipulators with Uncertain Dynamics

Parallel–Serial Robotic Manipulators: A Review of Architectures, Applications, and Methods of Design and Analysis

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