DocumentCode
2044196
Title
Experiments with a parallel robot with singularity-perturbed design
Author
Yasuda, Toshiyuki ; Nenchev, Dragomir N. ; Aida, Kazuo ; Tamura, Hisashi
Author_Institution
Dept. of Mech. & Production Eng., Niigata Univ., Japan
Volume
1
fYear
2000
fDate
2000
Firstpage
217
Abstract
An experimental system comprising a parallel-link manipulator based on a newly proposed singularity-perturbed design of the planar five-bar linkage is described. Experiments are carried out for end-point path tracking control along a path passing through both an undermobility and an overmobility type singularity and the experimental data analysis is presented
Keywords
manipulator kinematics; motion control; position control; three-term control; end-point path tracking control; overmobility type singularity; parallel robot; parallel-link manipulator; planar five-bar linkage; singularity-perturbed design; undermobility type singularity; Couplings; Data analysis; Intelligent robots; Intelligent systems; Kinematics; Motion analysis; Motion control; Parallel robots; Production engineering; Shape;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE
Conference_Location
Nagoya
Print_ISBN
0-7803-6456-2
Type
conf
DOI
10.1109/IECON.2000.973153
Filename
973153
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