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
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;
Conference_Titel :
Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE
Conference_Location :
Nagoya
Print_ISBN :
0-7803-6456-2
DOI :
10.1109/IECON.2000.973153
