Name
Abstract | ||
|---|---|---|
The current trend in robotics is to achieve robust, high-speed and precise robots that fulfill the industry's requirements. Parallel robots are proposed as the best solution for some of these tasks due to the advantages offered by their parallel kinematic structure. However, in order to take the most of these advantages, advanced model-based control approaches are needed. In this paper, the dynamic model of the 3RRR is obtained in order to consider passive joint sensor data. The dynamic model developed is defined in a compact and structured form and is used to implement a novel redundant Computed Torque Control Scheme. Experimental data show that this approach increases the trajectory tracking and positioning accuracy of the 3RRR planar parallel robot. |
Year | Venue | Keywords |
|---|---|---|
2009 | Control Conference | industrial robots,robot dynamics,robot kinematics,torque control,trajectory control,3rrr parallel robot,advanced model-based control approach,control error reduction,parallel kinematic structure,positioning accuracy,redundant computed torque control scheme,redundant dynamic modelling,trajectory tracking,mathematical model,computational modeling,parallel robots,kinematics |
Field | DocType | ISBN |
Parallel manipulator,Kinematics,Experimental data,Control theory,Computer science,Robot kinematics,Control engineering,Planar,Artificial intelligence,Robot,Robotics,Trajectory | Conference | 978-3-9524173-9-3 |
Citations | PageRank | References |
3 | 0.44 | 8 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Asier Zubizarreta | 1 | 37 | 12.30 |
| Itziar Cabanes | 2 | 26 | 10.64 |
| Marga Marcos | 3 | 165 | 28.15 |
| Charles Pinto | 4 | 48 | 9.53 |
| Eva Portillo | 5 | 18 | 6.72 |