Title :
Development of controller for small-sized parallel kinematic machines in assembling mobile IT products
Author :
Hyun Min Do;Chanhun Park; Doo Hyeong Kim
Author_Institution :
Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials, 156 Gajeongbukno, Yuseong-gu, Daejeon, 305-343, Korea
Abstract :
This paper proposed the design of controller for 6 DOF parallel manipulator and development of control algorithm with the concept of synchronized error. Developed 6 DOF parallel manipulator is composed of 3 active joints to make a displacement motion of a moving platform and 3 active joints to make a rotational motion of an end-effector. Simulation model was suggested to develop the control algorithm through dynamic simulation.
Keywords :
"Synchronization","Heuristic algorithms","Parallel robots","Dynamics","Manipulator dynamics"
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2015 12th International Conference on
DOI :
10.1109/URAI.2015.7358933
