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Pick−and−Place Trajectory Planning and Robust Adaptive Fuzzy Tracking Control for Cable−Based Gangue−Sorting Robots with Model Uncertainties and External Disturbances
2022
Machines
A suspended cable−based parallel robot (CBPR) composed of four cables and an end−grab is employed in a pick−and−place operation of moving target gangues (MTGs) with different shapes, sizes, and masses. This paper focuses on two special problems of pick−and−place trajectory planning and trajectory tracking control of the cable−based gangue−sorting robot in the operation space. First, the kinematic and dynamic models for the cable−based gangue−sorting robots are presented in the presence of model
doi:10.3390/machines10080714
fatcat:2cjm2xlberdepnpohxyon6kxmu