Browsing by Author "Abdaljawad Abdaljawad, Harith Mahdi"

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    Master Thesis
    Feedback lineariztion control of flexible joint parallel manipulators by solving singular acceleration level differential equations
    (2016) Abdaljawad Abdaljawad, Harith Mahdi
    This study utilizes a certain algorithm where joint drives flexibility is presented for solving singular set of differential equations by specified implicit numerical integration method that is called Backward Euler Formula for more advanced order derivative information. The reason for using such a procedure is that there is singularity presence at the acceleration level inverse dynamics equations because the control torques can't perpetuate a direct effectiveness at the end-effector accelerations as a result of the elastic media. The trajectory tracking control law is utilized for a 3R (revolute joint), three legs planar parallel manipulator. This law linearizes and decouples the system which leads to achieve asymptotic stability by the means of feeding back the positions and velocities of the actuated rotors and joints. The desired path of the end-effector is chosen for the sake of singularity avoidance.