Title :
Dynamic considerations and motion control experiments for a parallel direct-drive robot arm
Author :
Kokkinis, Theodore ; Nakamura, Yoshihiko ; Uecker, Darrin ; Wang, Yulun
Author_Institution :
Dept. of Mech. Eng., California Univ., Santa Barbara, CA, USA
Abstract :
The authors discuss the inverse dynamics of parallel robot arms with closed-chain mechanical structure and show the implications for motion control using nonlinear inversion. They demonstrate the experimental motion control results for the prototype parallel direct-drive robot arm, which is based on a spatial 5-bar linkage with 3 degrees of freedom, using a variety of control algorithms. Finally they present certain results for the dynamic parameters of the arm, which are relevant to their identification.<>
Keywords :
dynamics; position control; robots; closed-chain mechanical structure; inverse dynamics; motion control; nonlinear inversion; parallel direct-drive robot arm; Arm; Communication system control; Control systems; Couplings; Lagrangian functions; Manipulators; Motion control; Parallel processing; Parallel robots; Prototypes;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240406
