Control of a 3-DOF Over-Actuated Parallel Mechanism
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.
Domains
Other [cs.OH]Origin | Files produced by the author(s) |
---|
Loading...