Design and control of a novel 4-DOFs parallel robot H4

H. B. Choi, O. Company, F. Pierrot, A. Konno, T. Shibukawa, Masaru Uchiyama

    Research output: Contribution to journalConference articlepeer-review

    34 Citations (Scopus)

    Abstract

    This paper deals with the design and dynamic control simulation of a new type of 4-DOFs parallel mechanism providing 3 translations and 1 rotation for high-speed handling and machining. This parallel mechanism is named as H4. A model-based dynamic control scheme is developed to improve the accuracy of the trajectory tracking. A simplified dynamic model is used for the H4 robot to decrease the cost of computation. A dynamic simulation is performed using ADAMS™. In addition, the Adept motion is used as a benchmark test to evaluate the effect of the dynamic control. The simulation results show that the dynamic control dramatically improves the trajectory tracking accuracy.

    Original languageEnglish
    Pages (from-to)1185-1190
    Number of pages6
    JournalProceedings - IEEE International Conference on Robotics and Automation
    Volume1
    Publication statusPublished - 2003 Dec 9
    Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
    Duration: 2003 Sep 142003 Sep 19

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering
    • Artificial Intelligence
    • Electrical and Electronic Engineering

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