Title :
A vision-based generic dynamic model of PKMs and its experimental validation on the Quattro parallel robot
Author :
Ozgur, Erol ; Dahmouche, Redwan ; Andreff, Nicolas ; Martinet, P.
Author_Institution :
Pascal Inst., IFMA, Clermont-Ferrand, France
Abstract :
In this paper, we present a dynamic modeling method for parallel kinematic manipulators. This method is built upon the postures (i.e., 3D orientation vectors, lengths and self rotations) of the kinematic elements which form the kinematic chains of the robot. Regarding the structure of the above method, computer vision emerges as a good option to obtain the postures of these kinematic elements. This method is then validated experimentally on the commercial Adept Quattro parallel robot.
Keywords :
manipulator dynamics; manipulator kinematics; robot vision; Adept Quattro parallel robot; PKM; computer vision; kinematic elements; parallel kinematic manipulators; robot kinematic chains; vision-based generic dynamic model; Acceleration; Computational modeling; Dynamics; Kinematics; Robot kinematics; Vectors;
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2014 IEEE/ASME International Conference on
Conference_Location :
Besacon
DOI :
10.1109/AIM.2014.6878200
