Research Article
Modal Decoupled Dynamics Feed-Forward Active Force Control of Spatial Multi-DOF Parallel Robotic Manipulator
Table 1
Parameters of the experimental parallel intelligent manipulator.
| Parameters | Values |
| Ellipse’s long distance of upper joint (mm) | 150 | Ellipse’s short distance of upper joint (mm) | 142 | Ellipse’s long distance of lower joint (mm) | 170 | Ellipse’s long distance of lower joint (mm) | 149 | Maximal stroke of linear electric cylinder (mm) | 50 | Initial length of linear electric cylinder (mm) | 160 | Masses of moving platform and joints (Kg) | 0.33 |
|
|