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Conference Papers Year : 2002

Control of a 3-DOF Over-Actuated Parallel Mechanism


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.


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lirmm-00191519 , version 1 (26-11-2007)



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⟩
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