| Autor: |
Eduardo Izaguirre, Luis Hernández, Ernesto Rubio, Orlando Urquijo |
| Jazyk: |
angličtina |
| Rok vydání: |
2011 |
| Předmět: |
|
| Zdroj: |
International Journal of Advanced Robotic Systems, Vol 8 (2011) |
| Druh dokumentu: |
article |
| ISSN: |
1729-8814 |
| DOI: |
10.5772/45697 |
| Popis: |
This paper presents a kinematic cartesian control scheme of 3 degree of freedom parallel robot driven by electro-pneumatic actuators based on exteroceptive pose measurement system. The inverse kinematics model is used to obtain the desired joint position coordinates from the time-varying trajectory given in task space. The proposal cascade control scheme in task space is based in two loops, the inner loop consisting in a decoupled joint position control and the outer loop which is designed to obtain an appropriate task space trajectory tracking. In order to avoid the on-line computation of direct kinematics an arrangement of inertial sensor and optical encoders are employed to provide the accurate pose measurement of end-effector. The experiment's results demonstrate the great performance of the proposed control scheme in industrial motion tracking application. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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