Design and Control of a Novel 4-DOFs Parallel Robot H4

Hee-Byoung Choi 1 Olivier Company 2 François Pierrot 2 Atsushi Konno 1 Tetsuro Shibukawa 1 Masaru Uchiyama 1
1 Department of Aerospace Engineering [Tohoku]
2 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper deals with the design and dynamic control simulation of a new type and dynamic control simulation of a new type of 4-DOFs parallel mechanism providing 3 translations and 1 rotation for high-speed handling and machining. This parallel mechanism is named as H4. A model-based dynamic control scheme is developed to improve the accuracy of the trajectory tracking. A simplified dynamic model is used for the H4 robot to decrease the cost of computation. A dynamic simulation is performed using ADAMSTM. In addition, the adept motion is used as a benchmark test to evaluate the effect of the dynamic control. The simulation results show that the dynamic control dramatically improves the trajectory tracking accuracy.
Type de document :
Communication dans un congrès
ICRA: International Conference on Robotics and Automation, Sep 2003, Taipei, Japan. IEEE International Conference on Robotics and Automation, 1, pp.1185-1190, 2003, 〈10.1109/ROBOT.2003.1241753〉
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Soumis le : jeudi 3 avril 2008 - 08:11:54
Dernière modification le : mardi 17 juillet 2018 - 15:54:03
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DEXTER | LIRMM | MIPS | UNIV-MONTPELLIER

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Hee-Byoung Choi, Olivier Company, François Pierrot, Atsushi Konno, Tetsuro Shibukawa, et al.. Design and Control of a Novel 4-DOFs Parallel Robot H4. ICRA: International Conference on Robotics and Automation, Sep 2003, Taipei, Japan. IEEE International Conference on Robotics and Automation, 1, pp.1185-1190, 2003, 〈10.1109/ROBOT.2003.1241753〉. 〈lirmm-00269434〉

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