Design and control of high-speed parallel robot

Author

Do, Hyun Min ; Park, Chan Hun ; Kim, Byung In ; Chung, Gwang Jo ; Kyung, Jin Ho

Author_Institution

Dept. of Robot. & Mechatron., Korea Inst. of Machinery & Mater., Daejeon, South Korea

fYear

2012

fDate

17-21 Oct. 2012

Firstpage

2139

Lastpage

2142

Abstract

In this paper, we develop the high speed parallel robot for handling the solar cell. This research covers the design of the experimental prototype, the design of the control algorithm and the evaluation of the performance of the proposed system. The control method using the feedback and feedforward are developed and applied to each joint of the parallel robot. To improve the performance, both the tracking error and synchronization error are considered. Finally, experiments are conducted to verify the performance.

Keywords

control system synthesis; design of experiments; feedback; feedforward; industrial manipulators; materials handling equipment; prototypes; solar cells; synchronisation; control algorithm design; design of experimental prototype; feedback; feedforward; high speed parallel robot control; high-speed parallel robot design; performance evaluation; solar cell handling; synchronization error; tracking error; Joints; Load modeling; Manipulators; Parallel robots; Synchronization; Trajectory; feedforward control; high-speed parallel robot; solar cell; synchronization error;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems (ICCAS), 2012 12th International Conference on

Conference_Location

JeJu Island

Print_ISBN

978-1-4673-2247-8

Type

conf

Filename

6393204