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

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

    研究成果: Conference article査読

    39 被引用数 (Scopus)

    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
    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 142003 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

    フィンガープリント

    「Design and control of a novel 4-DOFs parallel robot H4」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

    引用スタイル