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

Author

Choi, H.B. ; Company, O. ; Pierrot, E. ; Konno, A. ; Shibukawa, T. ; Uchiyama, M.

Author_Institution

Dept. of Aeronaut. & Space Eng., Tohoku Univ., Sendai, Japan

Volume

1

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

1185

Abstract

This paper deals with the design and dynamic control simulation of a new type 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^TM. 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.

Keywords

control system synthesis; mobile robots; motion control; position control; tracking; 4-DOF parallel mechanism; dynamic control; parallel robot; trajectory tracking accuracy; Aerodynamics; Benchmark testing; Computational efficiency; Computational modeling; Machining; Motion control; Parallel robots; Prototypes; Service robots; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1241753

Filename

1241753