DocumentCode
2356673
Title
Design of the control system for a 6-DOF Mobile Parallel Robot with 3 subchains
Author
Wan, Zhong ; Hu, Ying ; Lin, Jingchuan ; Zhang, Jianwei
Author_Institution
Shenzhen Institutes of Adv. Technol., Chinese Acad. of Sci., Shenzhen, China
fYear
2010
fDate
4-7 Aug. 2010
Firstpage
446
Lastpage
451
Abstract
In this paper, the Mobile Parallel Robot (MPR) with structural configurations of PPUU (Prismatic - Prismatic - Universal - Universal) is developed. The inverse kinematics is firstly derived and a specific control system is presented. The control system integrates the features of parallel robot and mobile robot. Five control modules are included in the control software. By using the omnidirectional wheels, the MPR could perform complex tasks such as posture self-adjusting or moving with a required posture. The experiment on the motion precision of MPR is also carried out.
Keywords
control system synthesis; mobile robots; robot kinematics; 6-DOF mobile parallel robot; control software; control system design; inverse kinematics; omnidirectional wheels; posture moving; posture self-adjusting; prismatic-prismatic-universal-universal; Education; Planning; Robots; Software; Trajectory; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics and Automation (ICMA), 2010 International Conference on
Conference_Location
Xi´an
ISSN
2152-7431
Print_ISBN
978-1-4244-5140-1
Electronic_ISBN
2152-7431
Type
conf
DOI
10.1109/ICMA.2010.5588357
Filename
5588357
Link To Document