Trajectory Errors of the 6-PGK Parallel Robot

Author

Moldovan, Liviu

Author_Institution

Petru Maior Univ. of Targu Mures, Targu Mures, Romania

fYear

2008

fDate

8-10 Nov. 2008

Firstpage

31

Lastpage

37

Abstract

This paper presents a method to determinate a desired trajectory for the manipulated object by the 6-PGK parallel robot, with an imposed velocity, when some vibration motions act in the prismatic motor joints. By using the Lagrangian approach the dynamic equations of motion of the parallel robot were deduced. The supplementary generalized forces that must be introduced in system to correct the trajectory errors have been computed from these equations.

Keywords

manipulator dynamics; manipulator kinematics; position control; vibrations; 6-PGK parallel robot; manipulated object trajectory; motion dynamic equations; prismatic motor joints; trajectory errors; vibration motions; Artificial intelligence; Equations; Error correction; Manipulator dynamics; Mobile robots; Parallel robots; Payloads; Robot kinematics; Robotic assembly; Service robots; base platform; joint vibrations; mobile platform; parallel robot; trajectory errors;

fLanguage

English

Publisher

ieee

Conference_Titel

Complexity and Intelligence of the Artificial and Natural Complex Systems, Medical Applications of the Complex Systems, Biomedical Computing, 2008. CANS '08. First International Conference on

Conference_Location

Targu Mures, Mures

Print_ISBN

978-0-7695-3621-7

Type

conf

DOI

10.1109/CANS.2008.11

Filename

5231546