Control of parallel-kinematic machines
This novel modelling processing now allows an efficient description and drive of parallel-kinematic machines by means of a universal procedure, and forms the basis for the differentiation of the system of equations in terms of control. The links of the said mechanisms are incorporated into local co-ordinate systems in order to display their coupling in non-linear algebraic equations. The system of equation solution displays the possibilities of moving of the said links and enables the control of the kinematics.
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