DocumentCode
3233150
Title
H4 parallel robot: modeling, design and preliminary experiments
Author
Pierrot, Francois ; Marquet, Frederic ; Company, Olivier ; Gil, Thierry
Author_Institution
LIRMM, Univ. des Sci. et Tech. du Languedoc, Montpellier, France
Volume
4
fYear
2001
fDate
2001
Firstpage
3256
Abstract
This paper first recalls the concept of H4 parallel mechanism, and the kinematic models necessary for real-time control are derived. A simple and efficient control system based on a combination of Windows NT and RTX is used to demonstrate its performances. Results prove the efficiency of H4 serving as a high-speed pick-and-place robot.
Keywords
manipulator kinematics; motion control; position control; real-time systems; H4 parallel robot; kinematic models; motion control; position control; real-time control; Aerospace simulation; Control systems; Gas insulated transmission lines; Grippers; Kinematics; Machining; Parallel machines; Parallel robots; Service robots; Wrist;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-6576-3
Type
conf
DOI
10.1109/ROBOT.2001.933120
Filename
933120
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