JPDAF based HMM for real-time contour tracking

2005 ◽  
Author(s):  
Yunqiang Chen ◽  
Yong Rui ◽  
T.S. Huang
Keyword(s):  
Real Time ◽  
Contour Tracking

Real-Time Interpolator and Contour Tracking in Link-Space for a 3 DOF Parallel Mechanism

2008 ◽  
Vol 594 ◽  
pp. 415-436
Author(s):  
Yuan Ming Cheng ◽  
Chien Hsun Kuo ◽  
Jih Hua Chin
Keyword(s):  
Real Time ◽  
Trajectory Tracking ◽  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Contour Tracking ◽  
Control Points ◽  
Parallel Mechanisms ◽  
Time Efficiency ◽  
Compensation Control ◽  
Space Approach

Parallel mechanisms could be hardly used in contour tracking because of their mechanism features. This study proposed a link-space real time contour tracking for a 3 DOF (Z、α and β) hydraulic parallel mechanism. The essence of this approach is to convert control points of command trajectory to link space by inverse kinematics. A real-time interpolator was created and the multi-axis cross-coupled pre-compensation control (MCCPM) was constructed for link-space contour tracking. It was shown that a contour-accurate trajectory tracking could be performed which was impossible in the original Z-α-β space. Other advantages of this link-space approach were time efficiency and the uniform tracking velocity.

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