Control of a 3-DOF Over-Actuated Parallel Mechanism

Frédéric Marquet 1 Olivier Company 2 Sébastien Krut 2 Olivier Gascuel 3 François Pierrot 2
2 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
3 MAB - Méthodes et Algorithmes pour la Bioinformatique
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper presents the control of ARCHI, a 3-dof over-actuated parallel mechanism, designed as a subpart of a 5-axis hybrid machining robot. Control strategies of the parallel sub-mechanism (3 dof / 4 actuators) managing the internal constraint on the mechanism are proposed and experimental results are discussed.
Document type :
Conference papers
Complete list of metadatas

Cited literature [8 references]  Display  Hide  Download

https://hal-lirmm.ccsd.cnrs.fr/lirmm-00191519
Contributor : Christine Carvalho de Matos <>
Submitted on : Monday, November 26, 2007 - 10:43:48 AM
Last modification on : Monday, December 17, 2018 - 10:44:01 AM
Long-term archiving on : Monday, April 12, 2010 - 4:58:50 AM

File

D75.pdf
Files produced by the author(s)

Identifiers

Collections

Citation

Frédéric Marquet, Olivier Company, Sébastien Krut, Olivier Gascuel, François Pierrot. Control of a 3-DOF Over-Actuated Parallel Mechanism. DETC: Design Engineering Technical Conferences - CIE: Computers and Information in Engineering Conference, Sep 2002, Montreal, Canada. pp.1185-1191, ⟨10.1115/DETC2002/MECH-34343⟩. ⟨lirmm-00191519⟩

Share

Metrics

Record views

178

Files downloads

259