抄録
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.
| 本文言語 | English |
|---|---|
| ページ（範囲） | 1185-1190 |
| ページ数 | 6 |
| ジャーナル | Proceedings - IEEE International Conference on Robotics and Automation |
| 巻 | 1 |
| 出版ステータス | Published - 2003 12月 9 |
| イベント | 2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China 継続期間: 2003 9月 14 → 2003 9月 19 |
ASJC Scopus subject areas
- ソフトウェア
- 制御およびシステム工学
- 人工知能
- 電子工学および電気工学