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.

Domaines

Autre [cs.OH]

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D75.pdf (660.2 Ko)

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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00191519

Soumis le : lundi 26 novembre 2007-10:43:48

Dernière modification le : vendredi 24 mars 2023-14:52:49

Archivage à long terme le : lundi 12 avril 2010-04:58:50

Dates et versions

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

Licence

Autorisation HAL

Identifiants

HAL Id : lirmm-00191519 , version 1
DOI : 10.1115/DETC2002/MECH-34343

Citer

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⟩