Title :
High speed control of a parallel robot
Author :
Pierrot, Francois ; Benoit, Mathieu ; Dauchez, P. ; Galmiche, J.
Author_Institution :
Lab. d´´Autom. et de Microelectronique de Montpellier, France
Abstract :
Presents solutions for a complete modeling of the DELTA parallel robot with few arithmetic and trigonometric operations. The method is based on a good choice of the kinematic parameters for the kinematic models, and on few restricting hypotheses for the static and dynamic modes. A low cost robotic controller (the `Chip-Burger´) is also presented. A joint space and a cartesian space are implemented on it. The preliminary results presented in the paper show that a high acceleration can be reached with such solutions
Keywords :
controllers; kinematics; robots; Chip-Burger controller; DELTA parallel robot; cartesian space; dynamic modes; high speed control; joint space; kinematic models; kinematic parameters; static modes; Acceleration; Arithmetic; Costs; Grippers; Kinematics; Orbital robotics; Parallel robots; Robot control; Velocity control; Writing;
Conference_Titel :
Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications', Proceedings. IROS '90. IEEE International Workshop on
Conference_Location :
Ibaraki
DOI :
10.1109/IROS.1990.262518
