H
Hui Cheng
Researcher at Hong Kong University of Science and Technology
Publications - 1
Citations - 347
Hui Cheng is an academic researcher from Hong Kong University of Science and Technology. The author has contributed to research in topics: Real-time Control System & Parallel manipulator. The author has an hindex of 1, co-authored 1 publications receiving 320 citations.
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Dynamics and control of redundantly actuated parallel manipulators
TL;DR: In this article, a simple scheme for computing the inverse dynamics of a redundant actuation of a parallel manipulator is proposed, and four basic control algorithms, a joint-space proportional derivative (PD), a PD control in generalized coordinates, an augmented PD control, and a computed-torque control, are formulated.